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Behaviour-based control of autonomous robots
Gažo, Matúš ; Mráz, František (advisor) ; Obdržálek, David (referee)
The aim of this bachelor's thesis was an implementation of a library, which should enable to develop controllers for autonomous mobile robots. The controllers are based on ideas of Behaviour-based robotics. This means that such a robot has a set of elementary behaviours and its control system consists of a set of parametrized rules, which decide according to the state of its sensors which one of the pre-defined elementary behaviours the robot has to use. This program shifts the substantial part of a robot control development from programming to defining such elementary behaviours and sets of rules. It includes a genetic algorithm that can help to optimize parameters of the rules used and/or the behaviours used in a controller. As a proof-of-concept a simulated experiment with multiple agents was conducted, in which the robots were assigned a simple construction task. All simulations were done in the Player/Stage simulator.
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Secure Communicator
Gažo, Matúš ; Galamboš, Leo (advisor) ; Peterka, Jiří (referee)
Secured long-distance communication has always been an important topic for people handling sensitive information. Now with the arrival of ``intelligent`` mobile phones eavesdropping and information gathering is as easy as never. Luckily smartphones present not only problems in terms of security but also an opportunity to protect ones privacy. This thesis attempts to construct a generic software architecture of a communicator which could be capable of transferring voice, video and other various forms of binary data in a secure way. It will analyse and use different communication channels to reach a maximum level of data authenticity, integrity and confidentiality in an environment where a central security element needs to be avoided. The resulting architecture will be tested on a Voice-over-IP (VoIP) application prototype for the mobile Google Android platform to show whether the approach is practically usable on currently available phones.
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Secure Communicator
Gažo, Matúš ; Galamboš, Leo (advisor) ; Peterka, Jiří (referee)
Secured long-distance communication has always been an important topic for people handling sensitive information. Now with the arrival of ``intelligent`` mobile phones eavesdropping and information gathering is as easy as never. Luckily smartphones present not only problems in terms of security but also an opportunity to protect ones privacy. This thesis attempts to construct a generic software architecture of a communicator which could be capable of transferring voice, video and other various forms of binary data in a secure way. It will analyse and use different communication channels to reach a maximum level of data authenticity, integrity and confidentiality in an environment where a central security element needs to be avoided. The resulting architecture will be tested on a Voice-over-IP (VoIP) application prototype for the mobile Google Android platform to show whether the approach is practically usable on currently available phones.
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Behaviour-based control of autonomous robots
Gažo, Matúš ; Obdržálek, David (referee) ; Mráz, František (advisor)
The aim of this bachelor's thesis was an implementation of a library, which should enable to develop controllers for autonomous mobile robots. The controllers are based on ideas of Behaviour-based robotics. This means that such a robot has a set of elementary behaviours and its control system consists of a set of parametrized rules, which decide according to the state of its sensors which one of the pre-defined elementary behaviours the robot has to use. This program shifts the substantial part of a robot control development from programming to defining such elementary behaviours and sets of rules. It includes a genetic algorithm that can help to optimize parameters of the rules used and/or the behaviours used in a controller. As a proof-of-concept a simulated experiment with multiple agents was conducted, in which the robots were assigned a simple construction task. All simulations were done in the Player/Stage simulator.
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