| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 95 === In recent years, the research topic on multi-robot systems has received great attention since the cooperation characteristics of robots provides lots of advantages. To achieve the cooperation characteristics and information sharing, robots must maintain a good communication network while moving in order to share information. But in real implementation, information quantity could be a problem due to the hardware limitation. In this thesis, a multi-robot dispersion algorithm is proposed for robots to move under maintaining a good communication network. In particular, this algorithm utilizes only simple information, which is the communication density, or in other words, the number of communication links. This information could be easily obtained without complex equipments such as GPS, camera or radar. Hence the advantage of low information quantity is achieved. Moreover, for a base station that releases robots to search for targets, a dispatch rule is proposed based on the dispersion algorithm. With this dispatch rule the base station could flexibly resupply robots to enlarge the coverage area linearly with time. Extensive simulations of the dispersion algorithm and dispatch rule are well studied. Statistics on certain parameters, namely coverage area, partition rate, spending time and stop percentage, are discussed and good characteristics are found in them.
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