Algorithms for Particle Swarms Using Global Control: Aggregation, Mapping, Coverage, Foraging, and Shape Control

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dc.contributor.advisorBecker, Aaron T.
dc.contributor.committeeMemberTsekos, Nikolaos V.
dc.contributor.committeeMemberPan, Miao
dc.creatorViswanathan Mahadev, Arun
dc.creator.orcid0000-0003-1979-494X
dc.date.accessioned2019-09-14T19:10:07Z
dc.date.available2019-09-14T19:10:07Z
dc.date.createdMay 2017
dc.date.issued2017-05
dc.date.submittedMay 2017
dc.date.updated2019-09-14T19:10:07Z
dc.description.abstractTargeted drug delivery is a promising technique to reduce the side effects of drugs by delivering them in concentrated doses using large swarms (10^16) of controllable microbots only targeting bad or infected tissue. A promising way to control small steerable microbots is by using a global control field such as the magnetic gradient of an MRI machine. In this work we develop benchmark algorithms for performing aggregation of microbots using global control. Using our findings we develop algorithms for a novel approach of mapping tissue and vascular systems without the use of harmful contrast agents in an MRI. In our work we consider a swarm of particles in a 1D, 2D, and 3D grids that can be tracked and controlled by an external agent thus building a map. We present algorithms for controlling particles using global inputs to perform: (1) Mapping, i.e., building a representation of the free and obstacle regions of the workspace; (2) Foraging, i.e., ensuring that at least one particle reaches each target location;and (3) Coverage, i.e., ensuring that every free region on the map is visited by at least one particle. Finally we also demonstrate shape control of large swarms using global control by developing an algorithm for position control.
dc.description.departmentElectrical and Computer Engineering, Department of
dc.format.digitalOriginborn digital
dc.format.mimetypeapplication/pdf
dc.identifier.citationPortions of this document appear in: Mahadev, Arun V., Dominik Krupke, Jan-Marc Reinhardt, Sándor P. Fekete, and Aaron T. Becker. "Collecting a swarm in a grid environment using shared, global inputs." In 2016 IEEE International Conference on Automation Science and Engineering (CASE), pp. 1231-1236. IEEE, 2016.
dc.identifier.urihttps://hdl.handle.net/10657/4610
dc.language.isoeng
dc.rightsThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. UH Libraries has secured permission to reproduce any and all previously published materials contained in the work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).
dc.subjectGlobal Control
dc.subjectUniform Control
dc.subjectControl algorithms
dc.subjectSwarms
dc.subjectMicrobot
dc.subjectShape Control
dc.subjectAggregation
dc.subjectMapping
dc.subjectRobotics
dc.titleAlgorithms for Particle Swarms Using Global Control: Aggregation, Mapping, Coverage, Foraging, and Shape Control
dc.type.dcmiText
dc.type.genreThesis
thesis.degree.collegeCullen College of Engineering
thesis.degree.departmentElectrical and Computer Engineering, Department of
thesis.degree.disciplineElectrical Engineering
thesis.degree.grantorUniversity of Houston
thesis.degree.levelMasters
thesis.degree.nameMaster of Science in Electrical Engineering

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