Effect of Sensory Faults within Robot Swarms

Bachelor thesis (2022)

Authors

S. Coppens Electrical Engineering, Mathematics and Computer Science

Contributors

Ranga Rao Venkatesha Prasad Embedded Systems - EEMCS (mentor)
A. Simha Embedded Systems - EEMCS (mentor)
Lydia Y. Chen Data-Intensive Systems - EEMCS (graduation committee member)
Faculty
Electrical Engineering, Mathematics and Computer Science, Electrical Engineering, Mathematics and Computer Science
Copyright: © 2022 Stijn Coppens
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Published Date

22-06-2022

Language

English

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Faculty

Electrical Engineering, Mathematics and Computer Science

Abstract

Robotic swarms provide a great many uses within a world increasingly relying on autonomous systems. Alas these swarms are also very vulnerable to faults, even the smallest fault can cripple the performance of a whole swarm. Such a fault could be one of several types; those that have to do with sensors, communication, ... This paper will try to discover the effect that these faults have on the performance of a robotic swarm attempting to complete a specified task, e.g. a multiple destination routing problem or a variant of a foraging task. With the experiments concluded and the data gathered it proved possible to observe correlations between fault and performance, but this dependency heavily changes based on the algorithm used and fault introduced.