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An autonomous multi-robot system for stigmergy-based construction / Michael Allwright ; [Thesis supervisor: Prof. Marco Dorigo, Ph.D., Thesis co-supervisor: Dr. Navneet Bhalla, Ph.D.]. Paderborn, 2017
Inhalt
Abstract
Acknowledgements
Contents
1 Introduction
1.1 Construction by autonomous robots
1.2 Construction in nature
1.3 Problem statement
1.4 Contributions and publications
1.5 Thesis structure
2 Related Work in Multi-Robot Construction
2.1 Overview
2.2 Construction using centralized infrastructure
2.3 Construction without centralized infrastructure
2.4 Summary
3 System Architecture
3.1 Design of a multi-robot ACS
3.2 Adaptation of a decentralized control strategy
3.3 Architecture of our multi-robot ACS
3.4 Summary
4 Implementation of the Hardware
4.1 Stigmergic blocks
4.2 Autonomous robots
4.3 Verification of the hardware
5 Implementation of the Simulation
5.1 The ARGoS simulator
5.2 Extensions to the ARGoS simulator
5.3 Modeling hardware in simulation
5.4 Verification of the simulation
6 Results and Demonstrations
6.1 Demonstrations using hardware
6.2 Demonstrations in simulation
6.3 Discussion
6.4 Summary
7 Conclusion
7.1 Overview
7.2 Future work
7.3 Summary
A Description of a Stigmergic Block in ARGoS
B Description of an Autonomous Robot in ARGoS
Bibliography
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