Multi-robot group formation control algorithms

Abstract

Consulta en la Biblioteca ETSI Industriales (8188)

[EN] This Master Thesis has been developed on the basis of the goals and research questions posed by the GUARDIANS project. GUARDIANS is an EU funded project [41], the main objective of which is to deploy a swarm of robots to assist a fire fighter in the event or danger of fire. When a fire fighter goes inside a building where fire is being developed, they need help in determining their position and orientation; as often a dense smoke accompanies the fire that reduces dramatically the fire fighter visibility and makes more difficult conducting rescue operations. The GUARDIANS robot swarm major tasks are to provide the fire fighter a robust support in determining their localization, in leading them to the points of interests in the environment and in indicating the escape routes.