Control of Swarms of Autonomous Robots Using Model-Driven Development A State-Based Approach.

摘要

Unmanned systems are becoming increasingly pervasive in military and civilian applications. A natural progression is to bestow autonomy upon these vehicles. In this case, the resultant robots must be able to deal with unexpected circumstances on their own and, more importantly, in real-time. In this thesis, we focus on swarms of robots, defined as the capability of robots to keep close to each other without colliding with neighbours and obstacles. We start by modeling and simulating a possible swarm solution in MathWorks RTMMatlab(TM) and, then, moving on to change the algorithm in such a way that a controller written as a Finite State Machine (FSM) may be derived. We then use IBMRTMRational Rose Real-Time(TM) (RoseRT) to implement such a controller in emulation following the formalism of Model-Driven Development (MDD). Both model behaviours are then compared to validate their similarities.;Keywords: Collaborative Robotics, Model-Driven Development, Cooperative Robotics, Flocking, Real-Time Object-Oriented Modeling, Swarming Robotics