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Texas A&M University
1.
Kim, Young Ho.
Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning.
Degree: PhD, Computer Engineering, 2017, Texas A&M University
URL: http://hdl.handle.net/1969.1/161540 
► Ropes and rope-like objects (e.g., chains, cords, lines, whips, or lassos) are comparatively cheap, simple, and useful in daily life. For a long time, humans…
(more)
▼ Ropes and rope-like objects (e.g., chains, cords, lines, whips, or lassos) are comparatively cheap, simple, and useful in daily life. For a long time, humans have used such structures for manipulation tasks in a qualitatively different ways such as pulling, fastening, attaching, tying, knotting, and whipping. Nevertheless, these structures have received little attention in robotics. Because they are unactuated, such structures are regarded as difficult to model, plan and control. In this dissertation, we are interested in a mobile
robot system using a flexible rope-like structure attached to its end akin to a ‘tail’.
Our goal is to investigate how mobile robots can use compliant, unactuated structures for various manipulation tasks. Robots that use a tail to manipulate objects face challenges in modeling and planning of behaviors, dynamics, and combinatorial optimization. In this dissertation, we propose several methods to deal with the difficulties of modeling and planning. In addition, we solve variants of object manipulation problems wherein multiple classes of objects are to be transported by multiple cooperative robots using ropes.
Firstly, we examine motion primitives, where the primitives are designed to simplify modeling and planning issues. We explore several sets of motion primitive where each primitive contributes some aspect lacking in the others. These primitives are forward models of the system’s behavior that predict the position and orientation of the object being manipulated within the workspace. Then, to solve manipulation problems, we design a planner that seeks a sequence of motion primitives by using a sampling-based motion planning approach coupled with a particle-based representation to treat error propagation of the motions. Our proposed planner is used to optimize motion sequences based on a specified preference over a set of objectives, such as execution time, navigation cost, or collision likelihood. The solutions deal with different preferences effectively, and we analyze the complementary nature of dynamic and quasi-static motions, showing that there exist regimes where transitions among them are indeed desirable, as reflected in the plans produced.
Secondly, we explore a variety of interesting primitives that result in new approaches for object manipulation problems. We examine ways two robots can join the ends of their tails so that a pair of conjoined robots can encircle objects leading to the advantage of greater towing capacity if they work cooperatively. However, individual robots possess the advantage of allowing for greater concurrency if objects are distant from one another. We solve a new manipulation problem for the scenarios of moving a collection of objects to goal locations with multiple robots that may form conjoined pairs. To maximize efficiency, the robots balance working as a tightly-knit sub-team with individual operation. We develop heuristics that give satisfactory solutions in reasonable time. The results we report include data from physical robots executing…
Advisors/Committee Members: Shell, Dylan A (advisor), Akleman, Ergun (committee member), Gutierrez-Osuna, Ricardo (committee member), Song, Dezhen (committee member).
Subjects/Keywords: Manipulation Planning; Motion and Path planning; Underactuated Robots; Flexible Robots; Multi-robot Task Planning; Multi-robot Path Planning; Cooperative Robot Teams
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APA (6th Edition):
Kim, Y. H. (2017). Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/161540
Chicago Manual of Style (16th Edition):
Kim, Young Ho. “Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning.” 2017. Doctoral Dissertation, Texas A&M University. Accessed March 02, 2021.
http://hdl.handle.net/1969.1/161540.
MLA Handbook (7th Edition):
Kim, Young Ho. “Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning.” 2017. Web. 02 Mar 2021.
Vancouver:
Kim YH. Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning. [Internet] [Doctoral dissertation]. Texas A&M University; 2017. [cited 2021 Mar 02].
Available from: http://hdl.handle.net/1969.1/161540.
Council of Science Editors:
Kim YH. Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning. [Doctoral Dissertation]. Texas A&M University; 2017. Available from: http://hdl.handle.net/1969.1/161540
University of Toronto
2.
Daniluk, Steven.
An Advice Mechanism for Heterogeneous Robot Teams.
Degree: 2017, University of Toronto
URL: http://hdl.handle.net/1807/79051
► The use of reinforcement learning for robot teams has enabled complex tasks to be performed, but at the cost of requiring a large amount of…
(more)
▼ The use of reinforcement learning for robot teams has enabled complex tasks to be performed, but at the cost of requiring a large amount of exploration. Exchanging information between robots in the form of advice is one method to accelerate performance improvements. This thesis presents an advice mechanism for robot teams that utilizes advice from heterogeneous advisers via a method guaranteeing convergence to an optimal policy. The presented mechanism has the capability to use multiple advisers at each time step, and decide when advice should be requested and accepted, such that the use of advice decreases over time. Additionally, collective collaborative, and cooperative behavioural algorithms are integrated into a robot team architecture, to create a new framework that provides fault tolerance and modularity for robot teams.
M.A.S.
Advisors/Committee Members: Emami, Mohammed R, Aerospace Science and Engineering.
Subjects/Keywords: Advice; Multi Agent Systems; Reinforcement Learning; Robot Teams; 0538
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APA (6th Edition):
Daniluk, S. (2017). An Advice Mechanism for Heterogeneous Robot Teams. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/79051
Chicago Manual of Style (16th Edition):
Daniluk, Steven. “An Advice Mechanism for Heterogeneous Robot Teams.” 2017. Masters Thesis, University of Toronto. Accessed March 02, 2021.
http://hdl.handle.net/1807/79051.
MLA Handbook (7th Edition):
Daniluk, Steven. “An Advice Mechanism for Heterogeneous Robot Teams.” 2017. Web. 02 Mar 2021.
Vancouver:
Daniluk S. An Advice Mechanism for Heterogeneous Robot Teams. [Internet] [Masters thesis]. University of Toronto; 2017. [cited 2021 Mar 02].
Available from: http://hdl.handle.net/1807/79051.
Council of Science Editors:
Daniluk S. An Advice Mechanism for Heterogeneous Robot Teams. [Masters Thesis]. University of Toronto; 2017. Available from: http://hdl.handle.net/1807/79051
University of Manitoba
3.
Fiawoo, Seth.
Independent activity and local opportunity for dynamic robot team management in dangerous domains.
Degree: Computer Science, 2019, University of Manitoba
URL: http://hdl.handle.net/1993/34202
► Dangerous domains are a challenge for teams of heterogeneous robots, since robot losses may involve the loss of particular skills that might be rare in…
(more)
▼ Dangerous domains are a challenge for
teams of heterogeneous robots, since
robot losses may involve the loss of particular skills that might be rare in the domain.
Previous research has resulted in a framework that allows
teams to rebalance and
recruit from the environment.
However, there is currently no consideration of
situations where agents may at times provide more useful work globally by not joining
a team, or situations where it might be discovered that types of work might be
associated with a given locality. My thesis extends this framework to give agents
the ability to refuse to join
teams and work for times on their own, by considering
current satisfaction in the use of their skills, the likely rarity of their skills, and the
distribution of places those skills are used in the environment. I examine this work
in a simulated Urban Search and Rescue domain. My results show that in scenarios
where a robot’s special skills are rare and tasks requiring those skills are only available
at a few fixed locations in the environment, a
robot is more useful if it suspends its
team commitment to make itself available to all
teams.
Advisors/Committee Members: Anderson, John (Computer Science) (supervisor), Scuse, David (Computer Science) McNeill, Dean (Electrical and Computer Engineering) (examiningcommittee).
Subjects/Keywords: Robotics; Multi-Robot Systems; Urban Search and Rescue; Heterogeneous Robot Teams; Robot Satisfaction; Rare Skills; Recruitment
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APA (6th Edition):
Fiawoo, S. (2019). Independent activity and local opportunity for dynamic robot team management in dangerous domains. (Masters Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/34202
Chicago Manual of Style (16th Edition):
Fiawoo, Seth. “Independent activity and local opportunity for dynamic robot team management in dangerous domains.” 2019. Masters Thesis, University of Manitoba. Accessed March 02, 2021.
http://hdl.handle.net/1993/34202.
MLA Handbook (7th Edition):
Fiawoo, Seth. “Independent activity and local opportunity for dynamic robot team management in dangerous domains.” 2019. Web. 02 Mar 2021.
Vancouver:
Fiawoo S. Independent activity and local opportunity for dynamic robot team management in dangerous domains. [Internet] [Masters thesis]. University of Manitoba; 2019. [cited 2021 Mar 02].
Available from: http://hdl.handle.net/1993/34202.
Council of Science Editors:
Fiawoo S. Independent activity and local opportunity for dynamic robot team management in dangerous domains. [Masters Thesis]. University of Manitoba; 2019. Available from: http://hdl.handle.net/1993/34202
University of Manitoba
4.
Nagy, Geoff.
Active recruitment in dynamic teams of heterogeneous robots.
Degree: Computer Science, 2016, University of Manitoba
URL: http://hdl.handle.net/1993/31917
► Using teams of autonomous, heterogeneous robots to operate in dangerous environments has a number of advantages. Among these are cost-effectiveness and the ability to spread…
(more)
▼ Using
teams of autonomous, heterogeneous robots to operate in dangerous environments has a number of advantages. Among these are cost-effectiveness and the ability to spread out skills among team members. The nature of operating in dangerous domains means that the risk of loss is higher –
teams will often lose members and must acquire new ones. In this work, I explore various recruitment strategies for the purpose of improving an existing framework for team management. My additions allow robots to more actively acquire new
teams members and assign tasks among other robots on a team without the intervention of a team leader. I evaluate this framework in simulated post-disaster environments where the risk of
robot loss is high and communications are often unreliable. My results show that in many scenarios, active recruitment strategies provide significant performance benefits.
Advisors/Committee Members: Anderson, John (Computer Science) (supervisor), McNeill, Dean (Electrical and Computer Engineering) Scuse, David (Computer Science) (examiningcommittee).
Subjects/Keywords: Robotics; Urban Search and Rescue; Multi-Agent Robotics; Heterogeneous Robot Teams; Recruitment
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APA (6th Edition):
Nagy, G. (2016). Active recruitment in dynamic teams of heterogeneous robots. (Masters Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/31917
Chicago Manual of Style (16th Edition):
Nagy, Geoff. “Active recruitment in dynamic teams of heterogeneous robots.” 2016. Masters Thesis, University of Manitoba. Accessed March 02, 2021.
http://hdl.handle.net/1993/31917.
MLA Handbook (7th Edition):
Nagy, Geoff. “Active recruitment in dynamic teams of heterogeneous robots.” 2016. Web. 02 Mar 2021.
Vancouver:
Nagy G. Active recruitment in dynamic teams of heterogeneous robots. [Internet] [Masters thesis]. University of Manitoba; 2016. [cited 2021 Mar 02].
Available from: http://hdl.handle.net/1993/31917.
Council of Science Editors:
Nagy G. Active recruitment in dynamic teams of heterogeneous robots. [Masters Thesis]. University of Manitoba; 2016. Available from: http://hdl.handle.net/1993/31917
University of Oxford
5.
Ward, Paul A.
Coordinated search with unmanned aerial vehicle teams.
Degree: PhD, 2013, University of Oxford
URL: http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f
;
https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789
► Advances in mobile robot technology allow an increasing variety of applications to be imagined, including: search and rescue, exploration of unknown areas and working with…
(more)
▼ Advances in mobile robot technology allow an increasing variety of applications to be imagined, including: search and rescue, exploration of unknown areas and working with hazardous materials. State of the art robots are able to behave autonomously and without direct human control, using on-board devices to perceive, navigate and reason about the world. Unmanned Aerial Vehicles (UAVs) are particularly well suited to performing advanced sensing tasks by moving rapidly through the environment irrespective of the terrain. Deploying groups of mobile robots offers advantages, such as robustness to individual failures and a reduction in task completion time. However, to operate efficiently these teams require specific approaches to enable the individual agents to cooperate. This thesis proposes coordinated approaches to search scenarios for teams of UAVs. The primary application considered is Wilderness Search and Rescue (WiSaR), although the techniques developed are applicable elsewhere. A novel frontier-based search approach is developed for rotor-craft UAVs, taking advantage of available terrain information to minimise altitude changes during flight. This is accompanied by a lightweight coordination mechanism to enable cooperative behaviour with minimal additional overhead. The concept of a team rendezvous is introduced, at which all team members attend to exchange data. This also provides an ideal opportunity to create a comprehensive team solution to relay newly gathered data to a base station. Furthermore, the delay between sensing and the acquired data becoming available to mission commanders is analysed and a technique proposed for adapting the team to meet a latency requirement. These approaches are evaluated and characterised experimentally through simulation. Coordinated frontier search is shown to outperform greedy walk methods, reducing redundant sensing coverage using only a minimal coordination protocol. Combining the search, rendezvous and relay techniques provides a holistic approach to the deployment of UAV teams, meeting mission objectives without extensive pre-configuration.
Subjects/Keywords: 629.8; Software engineering; Computing; Applications and algorithms; Robotics; unmanned aerial vehicles; robotic search; search and rescue; robot teams; multi-robot systems; multi-robot coordination
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APA (6th Edition):
Ward, P. A. (2013). Coordinated search with unmanned aerial vehicle teams. (Doctoral Dissertation). University of Oxford. Retrieved from http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789
Chicago Manual of Style (16th Edition):
Ward, Paul A. “Coordinated search with unmanned aerial vehicle teams.” 2013. Doctoral Dissertation, University of Oxford. Accessed March 02, 2021.
http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789.
MLA Handbook (7th Edition):
Ward, Paul A. “Coordinated search with unmanned aerial vehicle teams.” 2013. Web. 02 Mar 2021.
Vancouver:
Ward PA. Coordinated search with unmanned aerial vehicle teams. [Internet] [Doctoral dissertation]. University of Oxford; 2013. [cited 2021 Mar 02].
Available from: http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789.
Council of Science Editors:
Ward PA. Coordinated search with unmanned aerial vehicle teams. [Doctoral Dissertation]. University of Oxford; 2013. Available from: http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789
University of Minnesota
6.
Nanjanath, Maitreyi.
Repeated auctions for robust task execution by a robot team.
Degree: PhD, Computer science, 2010, University of Minnesota
URL: http://purl.umn.edu/100750
► We study the use of auction based methods for allocation of tasks in a team of cooperative robots. The thesis makes contributions to this topic…
(more)
▼ We study the use of auction based methods for allocation of tasks in a team of cooperative robots. The thesis makes contributions to this topic in three main directions:
1. We propose a novel auction algorithm for task allocation to robots that is specially suited for dynamic environments where unexpected obstacles, loss of communication, and other delays may prevent a robot from completing its allocated tasks. We present theoretical properties of the algorithm and experimental results, obtained both in simulation and using real robots in a variety of environments.
2. We extend combinatorial auctions for tasks that have precedence constraints and that require robots to visit task locations within assigned time windows. We present experimental results obtained in simulation and compare the allocation generated by the combinatorial auction algorithm with allocations generated by other auction algorithms.
3. We apply auctions to the RoboCup search and rescue scenario, a city-level simulation of a disaster situation where heterogeneous agents have to clear debris, extinguish fires, and rescue civilians. We propose an auction mechanism to coordinate the agents, and show its effectiveness.
Subjects/Keywords: Auctions; Multi-robot Teams; Task Allocation; Computer Science
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APA ·
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Manager
APA (6th Edition):
Nanjanath, M. (2010). Repeated auctions for robust task execution by a robot team. (Doctoral Dissertation). University of Minnesota. Retrieved from http://purl.umn.edu/100750
Chicago Manual of Style (16th Edition):
Nanjanath, Maitreyi. “Repeated auctions for robust task execution by a robot team.” 2010. Doctoral Dissertation, University of Minnesota. Accessed March 02, 2021.
http://purl.umn.edu/100750.
MLA Handbook (7th Edition):
Nanjanath, Maitreyi. “Repeated auctions for robust task execution by a robot team.” 2010. Web. 02 Mar 2021.
Vancouver:
Nanjanath M. Repeated auctions for robust task execution by a robot team. [Internet] [Doctoral dissertation]. University of Minnesota; 2010. [cited 2021 Mar 02].
Available from: http://purl.umn.edu/100750.
Council of Science Editors:
Nanjanath M. Repeated auctions for robust task execution by a robot team. [Doctoral Dissertation]. University of Minnesota; 2010. Available from: http://purl.umn.edu/100750
7.
Kapoutsis, Athanasios.
Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.
Degree: 2017, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ)
URL: http://hdl.handle.net/10442/hedi/42416
► In this thesis we deal with the problem of navigating a team of robots in both known and unknown environments, so as the mission's objectives…
(more)
▼ In this thesis we deal with the problem of navigating a team of robots in both known and unknown environments, so as the mission's objectives to be fulfilled. The structure of this thesis is divided into two main pillars. In the first pillar we deal with the problem of determining an optimal path involving all points of a given area of interest (offline), while avoiding sub-areas with specific characteristics (e.g. obstacles, no-fly zones, etc.). This problem, which is usually referred as multi-robot coverage path planning (mCPP), has been proven to be NP-hard. Currently, existing approaches produce polynomial algorithms that are able to only approximate the minimum covering time. In chapter 3, a novel methodology is proposed, capable of producing such optimal paths in approximately polynomial time. In the heart of the proposed approach lies the DARP algorithm, which divides the terrain into a number of equal areas each corresponding to a specific robot, in such a way to guarantee: complete coverage, non-backtracking solution, minimum coverage path, while at the same time does not need any preparatory stage. In the second pillar of this thesis, we design algorithms capable of navigating team of robots without any prior knowledge. More specifically, we deal with problems where the objectives of the multi-robot system can be transformed to the optimization of a specifically defined cost-function. Due to the unknown environment, unknown robots' dynamics, sensor nonlinearities, etc., the analytic form of the cost-function is not available a priori. Therefore, standard gradient descent-like algorithms are not applicable to these problems. In chapter 4, we first show that optimal one-step-ahead exploration schemes that are based on a transformed optimization criterion can lead to highly efficient solutions to the multi-robot exploration. As, however, optimal one-step-ahead solutions to the transformed optimization criterion cannot be practically obtained using conventional optimization schemes, the second step in our approach is to combine the use of the transformed optimization criterion with the Cognitive Adaptive Optimization (CAO): CAO is a practicably feasible computational methodology which adaptively provides an accurate approximation of the optimal one-step-ahead solutions. This combination results in a multi-robot exploration scheme which is both practically implementable and provides with quite efficient solutions as it is shown both by theoretical analysis and, most importantly, by extensive simulation experiments and real-life underwater sea-floor mapping experiments in the Leixoes port, Portugal. Finally, in chapter 5, we propose a distributed algorithm applicable to a quite large class of practical multi-robot applications. In such multi-robot applications, the user-defined objectives of the mission can be casted as a general optimization problem, without explicit guidelines of the sub-tasks per different robot. A novel distributed methodology is proposed, based on the CAO algorithm (as proposed on the…
Subjects/Keywords: Αυτόνομη πλοήγηση; Ομάδες ρομπότ; Βελτιστοποίηση συνάρτησης κόστους; Κάλυψη περιοχών; Χαρτογράφηση; Προσαρμοστικά συστήματα; Ελάχιστα μονοπάτια κάλυψης; Θαλάσσια ρομποτικά συστήματα; Autonomous navigation; Multi-robot teams; Cost function optimization; Multi-robot coverage; Multi-robot mapping; Learning and adaptive system; Minimum coverage paths; Marine robotics
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APA (6th Edition):
Kapoutsis, A. (2017). Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. (Thesis). Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Retrieved from http://hdl.handle.net/10442/hedi/42416
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Kapoutsis, Athanasios. “Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.” 2017. Thesis, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Accessed March 02, 2021.
http://hdl.handle.net/10442/hedi/42416.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Kapoutsis, Athanasios. “Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.” 2017. Web. 02 Mar 2021.
Vancouver:
Kapoutsis A. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. [Internet] [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2017. [cited 2021 Mar 02].
Available from: http://hdl.handle.net/10442/hedi/42416.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Kapoutsis A. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2017. Available from: http://hdl.handle.net/10442/hedi/42416
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Waterloo
8.
Peasgood, Mike.
Cooperative Navigation for Teams of Mobile Robots.
Degree: 2008, University of Waterloo
URL: http://hdl.handle.net/10012/3575
► Teams of mobile robots have numerous applications, such as space exploration, underground mining, warehousing, and building security. Multi-robot teams can provide a number of practical…
(more)
▼ Teams of mobile robots have numerous applications, such as space exploration,
underground mining, warehousing, and building security. Multi-robot teams can provide a number of practical benefits in such applications, including simultaneous presence in multiple locations, improved system performance, and greater robustness and redundancy compared to individual robots. This thesis addresses three aspects of coordination and navigation for teams of mobile robots: localization, the estimation of the position of each robot in the environment; motion planning, the process of finding collision-free trajectories through the environment; and task allocation, the selection of appropriate goals to be assigned to each robot. Each of these topics are
investigated in the context of many robots working in a common environment.
A particle-filter based system for cooperative global localization is presented.
The system combines the sensor data from three robots, including measurements of the distances between robots, to cooperatively estimate the global position of each robot in the environment. The method is developed for a single triad of robots, then extended to larger groups of robots. The algorithm is demonstrated in a simulation of robots equipped with only simple range sensors, and is shown to successfully achieve global localization of robots that are unable to localize using only their own local sensor data.
Motion planning is investigated for large teams of robots operating in tunnel and corridor environments, where coordinated planning is often required to avoid collision or deadlock conditions. A complete and scalable motion planning algorithm is presented and evaluated in simulation with up to 150 robots. In contrast to popular decoupled approaches to motion planning (which cannot guarantee a solution), this algorithm uses a multi-phase approach to create and maintain obstacle-free paths through a graph representation of the environment. The resulting plan is a set of collision-free trajectories, guaranteeing that every robot will reach its goal.
The problem of task allocation is considered in the same type of tunnel and corridor environments, where tasks are defined as locations in the environment that must be visited by one of the robots in the team. To find efficient solutions to the task allocation problem, an optimization approach
is used to generate potential task assignments, and select the best solution.
The multi-phase motion planner is applied within this system as an efficient method of evaluating potential task assignments for many robots in a large environment. The algorithm is evaluated in simulations with up to 20 robots in a map of large underground mine.
A real-world implementation of 3 physical robots was used to demonstrate the implementation of the multi-phase motion planning and task allocation systems. A centralized motion planning and task allocation system was developed, incorporating localization and time-dependent trajectory tracking on the robot processors, enabling cooperative…
Subjects/Keywords: mobile robots; robot navigation; multi-robot teams; motion planning; localization; task allocation
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APA ·
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Manager
APA (6th Edition):
Peasgood, M. (2008). Cooperative Navigation for Teams of Mobile Robots. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/3575
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Peasgood, Mike. “Cooperative Navigation for Teams of Mobile Robots.” 2008. Thesis, University of Waterloo. Accessed March 02, 2021.
http://hdl.handle.net/10012/3575.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Peasgood, Mike. “Cooperative Navigation for Teams of Mobile Robots.” 2008. Web. 02 Mar 2021.
Vancouver:
Peasgood M. Cooperative Navigation for Teams of Mobile Robots. [Internet] [Thesis]. University of Waterloo; 2008. [cited 2021 Mar 02].
Available from: http://hdl.handle.net/10012/3575.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Peasgood M. Cooperative Navigation for Teams of Mobile Robots. [Thesis]. University of Waterloo; 2008. Available from: http://hdl.handle.net/10012/3575
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
9.
Mohan, Sanjana Reddy.
3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields.
Degree: MS, Engineering, 2019, U of Denver
URL: https://digitalcommons.du.edu/etd/1604
► Multi-robot teams find applications in emergency response, search and rescue operations, convoy support and many more. Teams of autonomous aerial vehicles can also be…
(more)
▼ Multi-
robot teams find applications in emergency response, search and rescue operations, convoy support and many more.
Teams of autonomous aerial vehicles can also be used to protect a cargo of airplanes by surrounding them in some geometric shape. This research develops a control algorithm to attract UAVs to one or a set of bounded geometric shapes while avoiding collisions, re-configuring in the event of departure or addition of UAVs and maneuvering in mission space while retaining the configuration. Using potential field theory, weighted vector fields are described to attract UAVs to a desired formation. In order to achieve this, three vector fields are defined: one attracts UAVs located outside the formation towards bounded geometric shape; one pushes them away from the center towards the desired region and the third controls collision avoidance and dispersion of UAVs within the formation. The result is a control algorithm that is theoretically justified and verified using MATLAB which generates velocity vectors to attract UAVs to a loose formation and maneuver in the mission space while remaining in formation. This approach efficiently scales to different team sizes.
Advisors/Committee Members: Matthew J. Rutherford, Ph.D., Kimon P. Valavanis, Ph.D..
Subjects/Keywords: Multi-robot; Potential fields; Teams; Unmanned aerial vehicles; Computer Engineering; Engineering; Robotics
…tasks, which, cumulatively accomplish the assigned mission. Multi-robot teams may
be deployed… …formation
control topology and formation control strategies in multi-robot teams are discussed.
3… …x5B;44] cooperative multi-robot
teams are used in transportation of objects. Liu et al… …45] multi-robot teams perform cooperative foraging tasks. On the contrary,
robots… …14
2.3
Formation Control Strategies
Formation control in multi-robot teams has been…
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APA (6th Edition):
Mohan, S. R. (2019). 3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields. (Thesis). U of Denver. Retrieved from https://digitalcommons.du.edu/etd/1604
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Mohan, Sanjana Reddy. “3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields.” 2019. Thesis, U of Denver. Accessed March 02, 2021.
https://digitalcommons.du.edu/etd/1604.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Mohan, Sanjana Reddy. “3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields.” 2019. Web. 02 Mar 2021.
Vancouver:
Mohan SR. 3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields. [Internet] [Thesis]. U of Denver; 2019. [cited 2021 Mar 02].
Available from: https://digitalcommons.du.edu/etd/1604.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Mohan SR. 3D Formation Control in Multi-Robot Teams Using Artificial Potential Fields. [Thesis]. U of Denver; 2019. Available from: https://digitalcommons.du.edu/etd/1604
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
10.
Pruner, Elisha.
Control of Self-Organizing and Geometric Formations
.
Degree: 2014, University of Ottawa
URL: http://hdl.handle.net/10393/30491
► Multi-vehicle systems offer many advantages in engineering applications such as increased efficiency and robustness. However, the disadvantage of multi-vehicle systems is that they require a…
(more)
▼ Multi-vehicle systems offer many advantages in engineering applications such as increased efficiency and robustness. However, the disadvantage of multi-vehicle systems is that they require a high level of organization and coordination in order to successfully complete a task. Formation control is a field of engineering that addresses this issue, and provides coordination schemes to successfully implement multi-vehicle systems. Two approaches to group coordination were proposed in this work: geometric and self-organizing formations. A geometric reconfiguring formation was developed using the leader-follower method, and the self-organizing formation was developed using the velocity potential equations from fluid flow theory. Both formation controllers were first tested in simulation in MATLAB, and then implemented on the X80 mobile robot units. Various experiments were conducted to test the formations under difficult obstacle scenarios. The robots successfully navigated through the obstacles as a coordinated as a team using the self-organizing and geometric formation control approaches.
Subjects/Keywords: formation control;
autonomous mobile robots;
control of robot teams;
leader-follower formation;
self-organizing formations;
decentralized control;
artificial potential field formation;
velocity potential;
multi-agent systems;
reconfiguring geometric formation
…teams in dynamic environments. Autonomous motion in multi-robot systems is a very complex… …approach[39].
Multi-robot teams add redundancy, increase the fault tolerance of the… …cooperate with each other to perform their mission.
Multi-robot teams exchange information over a… …of multi-robot teams. Collision avoidance strategies alone are not enough, and
large groups… …culmination of reactive behaviors. In the paper, new formations in multi-robot
teams are presented…
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Pruner, E. (2014). Control of Self-Organizing and Geometric Formations
. (Thesis). University of Ottawa. Retrieved from http://hdl.handle.net/10393/30491
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Pruner, Elisha. “Control of Self-Organizing and Geometric Formations
.” 2014. Thesis, University of Ottawa. Accessed March 02, 2021.
http://hdl.handle.net/10393/30491.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Pruner, Elisha. “Control of Self-Organizing and Geometric Formations
.” 2014. Web. 02 Mar 2021.
Vancouver:
Pruner E. Control of Self-Organizing and Geometric Formations
. [Internet] [Thesis]. University of Ottawa; 2014. [cited 2021 Mar 02].
Available from: http://hdl.handle.net/10393/30491.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Pruner E. Control of Self-Organizing and Geometric Formations
. [Thesis]. University of Ottawa; 2014. Available from: http://hdl.handle.net/10393/30491
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
. 
Open Access Theses and Dissertations
