Graduate Thesis Or Dissertation

 

Realistic simulation of spatial computers and robot swarms Public Deposited

https://scholar.colorado.edu/concern/graduate_thesis_or_dissertations/cj82k783q
Abstract
  • The goal of Amorphous Computing is defined as: “To identify organizational principles and create programming technologies for obtaining intentional, pre-specified behavior from the cooperation of myriad unreliable parts that are arranged in unknown, irregular, and time-varying ways” [1]. Amorphous Facades are stationary formations of amorphous computers used in building environments and are constructed as a wall. One of the desired functionalities of the Amorphous walls is to be able to track occupancy within an interior environment. Pymorphous is a spatial computing library for Python. Currently, Pymorphous has its own simulator, but the simulator is very abstract and doesn't realistically simulate physical robots or device hardware limitations. Webots is a virtual robot simulation program that is much less abstract that the Pymorphous simulator and that accurately simulates physics and realistic hardware. The simulator-runtime for Pymorphous is very specific to its own simulator. To allow Pymorphous to be simulated in a less abstract environment, Webots, I will create a new runtime which will facilitate communication between amorphous computing robots within Webots and Pymorphous. To demonstrate the functionality of the Webots-runtime for Pymorphous, I will develop three simulations within Webots. A simple neighborhood simulation will be used to show the functionality of Pymorphous neighborhood calculation between amorphous wall panels in Webots. A velocity tracking simulation will be used to demonstrate the functionality of simple tracking algorithms within Webots, similar to algorithms that the wall might actually use to track occupancy. Lastly, the setup of the Amorphous Wall within Webots will be changed to reflect mobile robots to illustrate the ability of Webots to simulate more complex Pymorphous flocking algorithms on mobile robots.
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Date Issued
  • 2011
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Last Modified
  • 2019-11-18
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