Exploration of Spatiotemporal Systems with Swarm of Kilobots in V-REP Simulation.

摘要

This thesis implements the humans immune system behaviour to the Kilobot robots in V-REP simulation. This behaviour is divided in two di erent parts: Random walk and chemotaxis. The Kilobots are modelled as immune cells and the environment is antigen concentration, where the high concentration are pathogens. The goal for these Kilobots is to search and destroy these pathogens on the area. The antigen concentration is modelled as a spatiotemporal system, that changes by time and space. This system is tested with di erent swarm sizes and with di erent random walks. This kind of robotic system can be used e.g. nding and removing toxic chemicals on sea and land.