Term of Award

Summer 2021

Degree Name

Master of Science, Mechanical Engineering

Document Type and Release Option

Thesis (restricted to Georgia Southern)

Copyright Statement / License for Reuse

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 License.

Department

Department of Mechanical Engineering

Committee Chair

Biswanath Samanta

Committee Member 1

David Calamas

Committee Member 2

Jung Choi

Abstract

Multirobot systems can accomplish complex tasks when they can effectively share data. These tasks can range from search and rescue operations to path mapping operations. Currently Robot Operating System (ROS) framework is the widely used platform for creating a multirobot system, but its usability suffers from the complexity of being a framework, making it hard to employ on a variety of systems and projects. In this study, a multirobot system library was developed as an alternative to the ROS framework. The multirobot system development library was able to effectively share an unrestricted range of data and data types with a measured latency lower than a twentieth of that experienced with ROS. The multirobot system development library was also able to automatically pair new devices to its system unlike the ROS framework. When given the task of tracking displacement, the multirobot system development library was able to use its data sharing methods to create graphics in real-time, representing that the robots travel accurately. When given the task of searching for an object, the robot was able to remotely process large datasets allowing it to identify the target without having the necessary computational to do so alone.

Research Data and Supplementary Material

No

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