A doctoral thesis at the College of Engineering at the University of Basrah discussing (Design and Implementation of a Multi-Robot Shaping System Using Trajectory Control)

The thesis submitted by the student Esraa Sabri Abdel-Amir dealt with the formation of a multi-bottom system through three important steps. The first step is to localize multiple robots in a fixed environment, which is achieved using LDR sensors installed in robots and an array (LEDs) distributed in the environment. Second: Algorithms have been proposed Path planning where two types are presented. The first type of proposed algorithm is used to plan the robot’s path in an environment free of obstacles, another type of proposed algorithm is used to plan the robot’s path for a fixed environment with obstacles. Third: Two algorithms have been proposed to achieve the shaping process, where four robots are randomly distributed to form geometric shapes such as line, triangle and square within a specified distance from the robots. The thesis aims at the shaping process, as most applications require the regular shape of the robots’ sites to accomplish their tasks. On the other hand, shaping facilitates the process of driving a group of robots and preventing collisions with each other. The thesis concluded that practically checking the validity of the sensor range of many sensors in order to choose the best of them