Self-organized robotic system design and autonomous odor localization

Adam Thomas Hayes
This thesis presents a methodology for designing self-organized autonomous robotic systems and demonstrates how this process can be applied to the problem of finding the source of an airborne odor plume. The design methodology is applicable to other task domains and the resulting odor localization system extends the state of the art. The design procedure centers on the ability to define a specific task performance metric, systematically evaluate performance in a realistic environment, and define...
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