Becker, Aaron T.2019-09-10December 22018-12December 2https://hdl.handle.net/10657/4443Small-scale robots have great potential to bring transformation in the field of medical applications, defense systems, security, micro-assembly and many other areas. Imagine a group of milli, micro or nano-robots that can navigate inside the body to solve medical problems, or a swarm of robots that can paint a beautiful painting. Robots containing iron can be steered using a magnetic field generated by an MRI scanner, but all the robots will move in the same direction because the magnetic effect is global and not local. This thesis uses a customized version of the motion-planning technique called Rapidly Exploring Random Tree (RRT) to solve this problem for multiple robots by using obstacles. This thesis project solves instances of this motion-planning problem for more than one robot when steered using a magnetic field, and develops a motion planner that searches for sequences of control inputs to simulations steer the robots to desired goal positions.application/pdfengThe 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. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).Swarm robotsMotion planning and controlsRapidly exploring random tree (RRT)2019-09-10Thesisborn digital