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BACTAC - Shucker

Distributed Robotic Macrosensor
Brian Shucker
PhD Candidate
10/4/2005
3:30pm-4:30pm

We have developed a novel control mechanism that deploys a large number of inexpensive robots as a distributed remote sensing array, called a Distributed Robotic Macrosensor (DRM). This DRM has the capability to track targets of both a discrete (e.g., a vehicle) and diffuse (e.g., a chemical plume) nature. Attack resistance is an inherent property of the DRM as well. A simple virtual spring mesh abstraction is used to provide fully distributed control that is both flexible and fault-tolerant. We describe the algorithms for spring mesh formation and control, discrete target tracking, and diffuse target tracking. We also present simulation results demonstrating the efficacy and robustness of the spring mesh approach.

This is a practice of a talk Brian will be giving at MILCOM.

Department of Computer Science
University of Colorado Boulder
Boulder, CO 80309-0430 USA
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