Design and Implementation of Communication Platform for Autonomous Decentralized Systems

Description:

This thesis deals with the decentralized autonomous system, in which individual nodes acting like peers, communicate and participate in collaborative tasks and decision making processes. An experimental test-bed is created using four Garcia robots. The robots act like peers and interact with each other using user datagram protocol (UDP) messages. Each robot continuously monitors for messages coming from other robots and respond accordingly. Each robot broadcasts its location to all the other robots within its vicinity. Robots do not have built-in global positioning system (GPS). So, an indoor localization method based on signal strength is developed to estimate robot's position. The signal strength that the robot gets from the nearby wireless access points is used to calculate the robot's position. Trilateration and fingerprint are some of the indoor localization methods used for this purpose. The communication functionality of the decentralized system has been tested and verified in the autonomous systems laboratory.

Creator(s): Gottipati, Naga Sravani
Creation Date: December 2010
Partner(s):
UNT Libraries
Collection(s):
UNT Theses and Dissertations
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Total Uses: 485
Past 30 days: 3
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Publisher Info:
Publisher Name: University of North Texas
Place of Publication: Denton, Texas
Date(s):
  • Creation: December 2010
Description:

This thesis deals with the decentralized autonomous system, in which individual nodes acting like peers, communicate and participate in collaborative tasks and decision making processes. An experimental test-bed is created using four Garcia robots. The robots act like peers and interact with each other using user datagram protocol (UDP) messages. Each robot continuously monitors for messages coming from other robots and respond accordingly. Each robot broadcasts its location to all the other robots within its vicinity. Robots do not have built-in global positioning system (GPS). So, an indoor localization method based on signal strength is developed to estimate robot's position. The signal strength that the robot gets from the nearby wireless access points is used to calculate the robot's position. Trilateration and fingerprint are some of the indoor localization methods used for this purpose. The communication functionality of the decentralized system has been tested and verified in the autonomous systems laboratory.

Degree:
Level: Master's
Physical Description:

vii, 29 p. : ill.

Language(s):
Subject(s):
Keyword(s): Decentralized autonomous system | aRelay | localization | Garcia robots
Contributor(s):
Partner:
UNT Libraries
Collection:
UNT Theses and Dissertations
Identifier:
  • OCLC: 732629788 |
  • UNTCAT: b4007215 |
  • ARK: ark:/67531/metadc33156
Resource Type: Thesis or Dissertation
Format: Text
Rights:
Access: Public
License: Copyright
Holder: Gottipati, Naga Sravani
Statement: Copyright is held by the author, unless otherwise noted. All rights reserved.