Models and algorithmic approaches for cooperative multi-robot systems: thesis abstract
نویسنده
چکیده
The subject of multi-robot systems has been thoroughly investigated in the past decade (e.g., [9, 12, 11, 7]). Current research in multi-robot systems can be divided, roughly, according to two aspects: theoretical robotics (e.g. [12]) and practical robotics (e.g. [10]). Theoretical robotics research, in many cases, make unrealistic assumptions on the robots’ capabilities. For example, robots are sometime assumed to have unlimited visibility [8], or limited radius of visibility but omnidirectional [6]. In practice, it is usually not the case — robots have a limited angle of visibility along with limited radius of visibility. On the other hand, practical robotics research is driven, in many cases, by the will to solve problems, thus tend to be proven only for a specific robotic system. In my work, similar to work done by several other researchers, I have been aiming to bridge the gap between these two disciplines by examining problems from the multirobot domain using theoretical tools, i.e., trying to model the environment and provide computational analysis of problems and solutions while taking under consideration sensorial, motion or other limitations of the robots. My work includes three topics. The first, multi-robot task allocation based on the cost of interaction between the team members. In the second part of my work I handled the multirobot coverage task in which the goal was to find coverage paths such that the total time of coverage is minimized. The third topic is derived from the coverage task, and concerns multi-robot patrolling (repeated coverage) in adversarial environments. All problems are dealt using theoretical tools, for example using graph representation, graph theory algorithms, etc. The algorithms are evaluated using complexity measures, and optimality of the algorithms is theoretically proven (for non-heuristic solutions). The following sections describe the work done in each topic in more details.
منابع مشابه
Cooperative Control of Mobile Robots in Creating a Runway Platform for Quadrotor Landing
Multi-agent systems are systems in which several agents accomplish a mission in a cooperative manner. In this paper, a novel idea for the construction of a movable runway platform based on multi-agent systems is presented. It is assumed that an aerial agent (quadrotor) decides to make an emergency landing due to reasons such as a decrease in energy level or technical failure, while there is no ...
متن کاملImmune systems inspired multi-robot cooperative shepherding
Certain tasks require multiple robots to cooperate in order to solve them. The main problem with multi-robot systems is that they are inherently complex and usually situated in a dynamic environment. Now, biological immune systems possess a natural distributed control and exhibit real-time adaptivity, properties that are required to solve problems in multi-robot systems. In this thesis, biologi...
متن کاملTitle: Open invited track on Hybrid Control Synthesis for Multi-Robot Systems Proposers:
Abstract: Recent developments in hybrid control synthesis for single-robot systems have enabled the consideration of rich objectives and at the same time provable guarantees on their satisfaction, both in static and dynamic environments. The adoption of this framework in multirobot systems is, however, not straightforward. While centralized approaches are computationally infeasible, distributed...
متن کاملManipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach
Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...
متن کاملMulti-Robot Patrolling and Other Multi-Robot Cooperative Tasks: An Algorithmic Approach
The subject of cooperative multi robot systems has been thoroughly investigated over the past decade. These systems have immediate applicability in a wide variety of tasks, such as military operations and space missions. Building algorithms for multi-robot systems is a complex challenge, for which solutions and methods are brought from many different disciplines. There is significant interest i...
متن کامل