Print Email Facebook Twitter Mobile robot swarming using radio signal strength measurements and dead-reckoning Title Mobile robot swarming using radio signal strength measurements and dead-reckoning Author Van der Klauw, M.C.R. Contributor Keviczky, T. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Delft Center for Systems and Control Date 2015-10-26 Abstract The mobile robots considered in this thesis are six legged "Zebro" robots. These mobile robots will use Radio Signal Strength (RSS) measurements to determine the distances towards other mobile robots and radio beacons placed in the surroundings. A combination of distance measurements and dead-reckoning is used to perform a localization of the relative positions of the other mobile robots in the neighbourhood. The focus of the localization algorithm is to deal with a bad performance of the distance estimation, because this will result in uncertain position estimations. With knowledge about the bad performance of the localization an according suitable swarm algorithm is designed. This swarm algorithm is will also be used to test how valuable the position estimations can be as an addition to already existing swarm algorithms. Subject Zebromobile robotswarmtrilaterationrelative pose estimationlocalizationvirtual potential fieldradio signal strengthdead-reckoningbeaconRSS To reference this document use: http://resolver.tudelft.nl/uuid:d20ff217-4ce4-4061-9316-3f63550719f5 Part of collection Student theses Document type master thesis Rights (c) 2015 Van der Klauw, M.C.R. Files PDF mscThesis.pdf 3.93 MB Close viewer /islandora/object/uuid:d20ff217-4ce4-4061-9316-3f63550719f5/datastream/OBJ/view