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dc.contributor.advisor El-Ayat, Khaled Hamouda, Aalaa Ibrahim 2018-05-16T09:26:42Z 2018-05-16T22:00:26Z Spring 2018 en_US 2018-05-16
dc.description.abstract Swarm robotics is a research field inspired from the natural behavior of ants, bees or fish in their natural habitat. Each group display swarm behavior in different ways. For example, ants use pheromones to trace one another in order to find a nest, reach a food source or do any operation, while bees use dance moves to attract one another to the desired place. In swarm robotics, small robots attempt to mimic insect behavior. The robotic swarm group collaborate to perform a task and collectively solve a given problem. In the process, the robots use the sensors they are equipped with to move, communicate or avoid obstacles until they collectively do the desired functionality. In this thesis, we propose a modification to the Robotic Darwinian Particle Swarm Optimization (RDPSO) algorithm. In the RDPSO, robots deployed in a rescue operation, transport one object at a time to a desired safe place. In our algorithm, we simultaneously transport multiple objects to safety. We call our algorithm Multi Robotics Darwinian Particle Swarm Optimization (MRDPSO). Our algorithm is developed and implemented on a VREP simulator using ePuck robots as swarm members. We test our algorithm using two different environment sizes complete with obstacles. First implementation is for two simultaneous object transported but can be extended to more than two. We compare our new algorithm to the results of single RDPSO and found our algorithm to be 35 to 41 % faster. We also compared our results to those obtained from three selected papers that are Ghosh, Konar, and Janarthanan [1], TORABI [2], and Kube and Bonabeau [3]. The performance measures we compare to are the accuracy of transporting all objects to desired location, and the time efficiency of transporting all the objects in our new system. en_US
dc.description.sponsorship I would like to express my sincere appreciation and thank my supervisor Dr. Khaled El-Ayat, for all the help he provided through out all the time I was working on my thesis under his supervision and for all the support and pushing for this work to come to existence en_US
dc.format.extent 100 p. en_US
dc.format.medium theses en_US
dc.language.iso en en_US
dc.rights Author retains all rights with regard to copyright. en
dc.subject Cooperative transport en_US
dc.subject Swarm robotics en_US
dc.subject Multi object transportation en_US
dc.subject.lcsh Thesis (M.S.)--American University in Cairo en_US
dc.title Cooperative transport in swarm robotics. Multi object transportation en_US
dc.type Text en_US
dc.subject.discipline Computer Science en_US
dc.rights.access This item is available en_US
dc.contributor.department American University in Cairo. Dept. of Computer Science and Engineering en_US
dc.description.irb American University in Cairo Institutional Review Board approval is not necessary for this item, since the research is not concerned with living human beings or bodily tissue samples. en_US
dc.contributor.committeeMember Elkassas, Sherif
dc.contributor.committeeMember Abbas, Hazem

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  • Theses and Dissertations [1787]
    This collection includes theses and dissertations authored by American University in Cairo graduate students.

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