Hardware Platform for a Multi-Robot System: Research and implementation of a multi-robot system with a cooperative behavioral control system

Abstract

A small demonstration lab with a multi-robot system is being developed at ITK.This thesis considers the development and implementation of a hardware and softwareplatform for this multi-robot system. An overview of the project and systemis presented, followed by a walk-through of the hardware components required andused in this system. A brief overview of the software system is presented. Theproblems within, requirements of and solutions to obstacle detection methods ispresented, followed by a conference paper, written by the author of this thesis, introducingthe Inverted Particle Filter, which is an obstacle detection and mappingmethod developed for resource constrained systems. Previous work on positioningsystems is presented and the positioning system for this multi-robot system isproposed. The overall project and system is discussed and evaluated.