thesis.tex

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\newcommand{\FI}{Faculty of Informatics}
\newcommand{\MU}{Masaryk University}

\newcommand{\Jirik}{prof. RNDr. Jiří Barnat, Ph.D.}

\newcommand{\thesistitle}{RoFI -- Distributed Metamorphic Robots}
\newcommand{\thesissubtitle}{Master's thesis}
\newcommand{\thesisauthor}{Jan Mrázek}
\newcommand{\thesisYearCity}{Brno, 2018}
\newcommand{\thesisadvisor}{\Jirik}
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\begin{document}

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\frontmatter
\pagestyle{empty}

\begin{center}
    {\Large \sc \FI, \MU}
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    {\begin{spacing}{1}
        \Huge \bf \thesistitle
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    {\Large \sc \thesissubtitle}
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    {\LARGE \bf \thesisauthor}
    \vfill
    {\hfill \large \thesisYearCity}
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\cleardoublepage

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\includepdf[pages={1}]{assignment.pdf}

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\section*{Statement of an author of a school work}

Student´s Name and UČO: Jan Mrázek, 422279

\vskip1em

I acknowledge that the Masaryk University (MU) is entitled in accordance with
the law (Article 35 § 3 and 4 of the Copyright Act No. 121/2000 Sb.) to use for
educational and other internal purposes on a non-commercial basis my thesis or
my other school work, which I authored to fulfill my study obligations towards
MU (my work).

The use of my work for internal purposes includes the use of the original work
as well as of its derivatives and might consists also of assigning of my work
for additional processing to another student or a member of the MU academic
community, or of making it available as a basis for a creation of a derivative
thesis or other school work at MU. Any such use of my work will acknowledge my
authorship, the original name and source of my work and will be conducted
exclusively in order to further develop educational and other interests of MU
related to further development and utilization of my work within its academic
community.

I also acknowledge my duty to inform MU at the latest upon the submission of my
work about my intent to further develop or use my work at MU or elsewhere or
about any other relevant issues related to my work.

\vskip2em

Brno, \today

\vskip2em

\hfill Student´s signature

\cleardoublepage

\fi

\section*{Declaration} % from Mornfall
Thereby I declare that this thesis is my original work, which I have
created on my own. All sources and literature used in writing the
thesis, as well as any quoted material, are properly cited, including
full reference to its source.

\vfill
\textbf{Advisor:} \thesisadvisor

\cleardoublepage

\section*{Abstract}

This work presents the RoFI platform -- a platform of distributed metamorphic
robots. The individual robots (modules) can mechanically connect and therefore,
build larger robots (systems) with more capabilities compared to a single
module. The work gives the platform specification and proposes a formalism to
reason about RoFI systems. We develop a suitable docking system for coupling the
robots together, tackle the problem of inter-module communication, design a
primary module of the platform and give means to program such robots. We also
present some of the prototypes based on our designs.

\section*{Keywords}

robots, docking, modular, networking, distributed

\cleardoublepage

\section*{Acknowledgements}

\noindent \emph{“Do what I do. Hold tight and pretend it’s a plan!”}

\hfill — The Doctor, Season 7, Christmas Special

\bigskip

\noindent \emph{“The universe is big. It’s vast and complicated and ridiculous.
And sometimes, very rarely, impossible things just happen and we call them
miracles.”}

\hfill — The Doctor, Season 5, Episode 12

\bigskip

\noindent Thank you all who\footnote{I~hope you know who you are -- if you are
unsure whether this applies to you as well, feel free to e-mail me.} helped to
make this “miracle” happen according to the “plan” and I apologize to those who
were sidelined during the “plan” execution\punct{.}\footnote{You can ask for a
compensation via a hand-written letter brought by an avian carrier.}


\cleardoublepage
\thispagestyle{empty}

\pagestyle{headings}
\pdfbookmark{\contentsname}{toc}
\tableofcontents
\mainmatter

\input{introduction.tex}
\input{rofi_platform.tex}
\input{universal_module.tex}
\input{rofi_driver.tex}
\input{prototypes.tex}
\input{conclusion.tex}


\chapter*{Bibliography}
\addcontentsline{toc}{chapter}{Bibliography}
\markboth{}{} % avoid headers from last chapter in bibliography
\printbibliography[heading=none]

\appendix
\input{rofi_driver_interface.tex}

\end{document}