subject:(Multi robot)

Texas A&M University

1. Dufek, Jan. Best Viewpoints for External Robots or Sensors Assisting Other Robots.

Degree: PhD, Computer Science, 2020, Texas A&M University

URL: http://hdl.handle.net/1969.1/192260

► This dissertation creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to… (more)

▼ This dissertation creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to use a teleoperated assistant robot to provide a view of a task being performed by a primary robot. However, there is no existing model of the value of different external viewpoints and the choice of viewpoints is ad hoc not always leading to improved performance. This research develops the model using a psychomotor approach based on the cognitive science concept of Gibsonian affordances. The two central tenets of the approach are that the value of a viewpoint depends on the affordances for each action in a task and that viewpoints in the space surrounding the action can be rated and adjacent viewpoints with similar ratings can be clustered into manifolds of viewpoints with the equivalent value. In this approach, viewpoints for the affordances are rated based on the psychomotor behavior of human operators and clustered into manifolds of viewpoints with the equivalent value. The value of 30 viewpoints is quantified in a study with 31 expert robot operators for 4 affordances (Reachability, Passability, Manipulability, and Traversability) using a computer-based simulator of two robots (PackBot and TALON). The adjacent viewpoints with similar values are clustered into ranked manifolds using agglomerative hierarchical clustering with average linkages. The results support the two central tenets showing the validity of the affordance-based approach by confirming that there are manifolds of statistically significantly different viewpoint values, viewpoint values are statistically significantly dependent on the affordances, and viewpoint values are independent of a robot. Furthermore, the best manifold for each affordance provides a statistically significant improvement with a large Cohen's d effect size (1.1-2.3) in performance (improving time by 14%-59% and reducing errors by 87%-100%) and improvement in performance variation over the worst manifold. This model creates the fundamental, principled understanding of external viewpoints utility based on psychomotor behavior and contributes ranked manifolds of viewpoints for four common affordances. This model will enable autonomous selection of the best possible viewpoint and path planning for the assistant robot. Advisors/Committee Members: Murphy, Robin R (advisor), Caverlee, James B (committee member), Peres, Camille S (committee member), Shell, Dylan A (committee member).

Subjects/Keywords: Human-Robot Interaction; Telerobotics; Multi-Robot Systems

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APA (6^th Edition):

Dufek, J. (2020). Best Viewpoints for External Robots or Sensors Assisting Other Robots. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/192260

Chicago Manual of Style (16^th Edition):

Dufek, Jan. “Best Viewpoints for External Robots or Sensors Assisting Other Robots.” 2020. Doctoral Dissertation, Texas A&M University. Accessed February 28, 2021. http://hdl.handle.net/1969.1/192260.

MLA Handbook (7^th Edition):

Dufek, Jan. “Best Viewpoints for External Robots or Sensors Assisting Other Robots.” 2020. Web. 28 Feb 2021.

Vancouver:

Dufek J. Best Viewpoints for External Robots or Sensors Assisting Other Robots. [Internet] [Doctoral dissertation]. Texas A&M University; 2020. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1969.1/192260.

Council of Science Editors:

Dufek J. Best Viewpoints for External Robots or Sensors Assisting Other Robots. [Doctoral Dissertation]. Texas A&M University; 2020. Available from: http://hdl.handle.net/1969.1/192260

University of Adelaide

2. Sullivan, Nicholas David. Task Allocation and Collaborative Localisation in Multi-Robot Systems.

Degree: 2019, University of Adelaide

URL: http://hdl.handle.net/2440/120578

► To utilise multiple robots, it is fundamental to know what they should do, called task allocation, and to know where the robots are, called localisation.… (more)

▼ To utilise multiple robots, it is fundamental to know what they should do, called task allocation, and to know where the robots are, called localisation. The order that tasks are completed in is often important, and makes task allocation difficult to solve (40 tasks have 1047 different ways of completing them). Algorithms in literature range from fast methods that provide reasonable allocations, to slower methods that can provide optimal allocations. These algorithms work well for systems with identical robots, but do not utilise robot differences for superior allocations when robots are non-identical. They also can not be applied to robots that can use different tools, where they must consider which tools to use for each task. Robot localisation is performed using sensors which are often assumed to always be available. This is not the case in GPS-denied environments such as tunnels, or on long-range missions where replacement sensors are not readily available. A promising method to overcome this is collaborative localisation, where robots observe one another to improve their location estimates. There has been little research on what robot properties make collaborative localisation most effective, or how to tune systems to make it as accurate as possible. Most task allocation algorithms do not consider localisation as part of the allocation process. If task allocation algorithms limited inter-robot distance, collaborative localisation can be performed during task completion. Such an algorithm could equally be used to ensure robots are within communication distance, and to quickly detect when a robot fails. While some algorithms for this exist in literature, they provide a weak guarantee of inter-robot distance, which is undesirable when applied to real robots. The aim of this thesis is to improve upon task allocation algorithms by increasing task allocation speed and efficiency, and supporting robot tool changes. Collaborative localisation parameters are analysed, and a task allocation algorithm that enables collaborative localisation on real robots is developed. This thesis includes a compendium of journal articles written by the author. The four articles forming the main body of the thesis discuss the multi-robot task allocation and localisation research during the author’s candidature. Two appendices are included, representing conference articles written by the author that directly relate to the thesis. Advisors/Committee Members: Grainger, Steven (advisor), School of Mechanical Engineering (school).

Subjects/Keywords: multi-robot; genetic algorithms; localisation

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APA (6^th Edition):

Sullivan, N. D. (2019). Task Allocation and Collaborative Localisation in Multi-Robot Systems. (Thesis). University of Adelaide. Retrieved from http://hdl.handle.net/2440/120578

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Sullivan, Nicholas David. “Task Allocation and Collaborative Localisation in Multi-Robot Systems.” 2019. Thesis, University of Adelaide. Accessed February 28, 2021. http://hdl.handle.net/2440/120578.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Sullivan, Nicholas David. “Task Allocation and Collaborative Localisation in Multi-Robot Systems.” 2019. Web. 28 Feb 2021.

Vancouver:

Sullivan ND. Task Allocation and Collaborative Localisation in Multi-Robot Systems. [Internet] [Thesis]. University of Adelaide; 2019. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/2440/120578.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Sullivan ND. Task Allocation and Collaborative Localisation in Multi-Robot Systems. [Thesis]. University of Adelaide; 2019. Available from: http://hdl.handle.net/2440/120578

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

3. Blankenburg, Janelle. A Distributed Control Architecture for Collaborative Multi-Robot Task Allocation.

Degree: 2017, University of Nevada – Reno

URL: http://hdl.handle.net/11714/2785

► This thesis addresses the problem of task allocation for multi-robot systems that perform tasks with complex, hierarchical representations which contain different types of ordering constraints… (more)

Subjects/Keywords: distributed; multi-robot; task allocation

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APA (6^th Edition):

Blankenburg, J. (2017). A Distributed Control Architecture for Collaborative Multi-Robot Task Allocation. (Thesis). University of Nevada – Reno. Retrieved from http://hdl.handle.net/11714/2785

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Blankenburg, Janelle. “A Distributed Control Architecture for Collaborative Multi-Robot Task Allocation.” 2017. Thesis, University of Nevada – Reno. Accessed February 28, 2021. http://hdl.handle.net/11714/2785.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Blankenburg, Janelle. “A Distributed Control Architecture for Collaborative Multi-Robot Task Allocation.” 2017. Web. 28 Feb 2021.

Vancouver:

Blankenburg J. A Distributed Control Architecture for Collaborative Multi-Robot Task Allocation. [Internet] [Thesis]. University of Nevada – Reno; 2017. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/11714/2785.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Blankenburg J. A Distributed Control Architecture for Collaborative Multi-Robot Task Allocation. [Thesis]. University of Nevada – Reno; 2017. Available from: http://hdl.handle.net/11714/2785

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Minnesota

4. Jensen, Elizabeth. Online Multi-Robot Exploration with Communication Restrictions.

Degree: PhD, Computer Science, 2018, University of Minnesota

URL: http://hdl.handle.net/11299/201178

► In the aftermath of a disaster, such as an earthquake, it can be hours or even days before human rescue teams can safely enter damaged… (more)

Subjects/Keywords: distributed robotics; multi-robot systems; robot coverage; robot exploration

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Jensen, E. (2018). Online Multi-Robot Exploration with Communication Restrictions. (Doctoral Dissertation). University of Minnesota. Retrieved from http://hdl.handle.net/11299/201178

Chicago Manual of Style (16^th Edition):

Jensen, Elizabeth. “Online Multi-Robot Exploration with Communication Restrictions.” 2018. Doctoral Dissertation, University of Minnesota. Accessed February 28, 2021. http://hdl.handle.net/11299/201178.

MLA Handbook (7^th Edition):

Jensen, Elizabeth. “Online Multi-Robot Exploration with Communication Restrictions.” 2018. Web. 28 Feb 2021.

Vancouver:

Jensen E. Online Multi-Robot Exploration with Communication Restrictions. [Internet] [Doctoral dissertation]. University of Minnesota; 2018. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/11299/201178.

Council of Science Editors:

Jensen E. Online Multi-Robot Exploration with Communication Restrictions. [Doctoral Dissertation]. University of Minnesota; 2018. Available from: http://hdl.handle.net/11299/201178

Oklahoma State University

5. Mahi, S. M. Al. Algorithm for distributed heterogeneous robot-human teams.

Degree: Computer Science, 2020, Oklahoma State University

URL: http://hdl.handle.net/11244/325532

► This dissertation presents a set of three closely related studies conducted by me during my Doctoral studies. The studies focus on two immensely important aspects… (more)

Subjects/Keywords: coordination; factor graph; human-robot interaction; multi-robot; perception; robot

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APA (6^th Edition):

Mahi, S. M. A. (2020). Algorithm for distributed heterogeneous robot-human teams. (Thesis). Oklahoma State University. Retrieved from http://hdl.handle.net/11244/325532

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mahi, S M Al. “Algorithm for distributed heterogeneous robot-human teams.” 2020. Thesis, Oklahoma State University. Accessed February 28, 2021. http://hdl.handle.net/11244/325532.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mahi, S M Al. “Algorithm for distributed heterogeneous robot-human teams.” 2020. Web. 28 Feb 2021.

Vancouver:

Mahi SMA. Algorithm for distributed heterogeneous robot-human teams. [Internet] [Thesis]. Oklahoma State University; 2020. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/11244/325532.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mahi SMA. Algorithm for distributed heterogeneous robot-human teams. [Thesis]. Oklahoma State University; 2020. Available from: http://hdl.handle.net/11244/325532

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Texas A&M University

6. Nam, Changjoo. Assignment Algorithms for Multi-Robot Task Allocation in Uncertain and Dynamic Environments.

Degree: PhD, Computer Science, 2016, Texas A&M University

URL: http://hdl.handle.net/1969.1/158027

► Multi-robot task allocation is a general approach to coordinate a team of robots to complete a set of tasks collectively. The classical works adopt relevant… (more)

▼ Multi-robot task allocation is a general approach to coordinate a team of robots to complete a set of tasks collectively. The classical works adopt relevant theories from other disciplines (e.g., operations research, economics), but oftentimes they are not adequately rich to deal with the properties from the robotics domain such as perception that is local and communication which is limited. This dissertation reports the efforts on relaxing the assumptions, making problems simpler and developing new methods considering the constraints or uncertainties in robot problems. We aim to solve variants of classical multi-robot task allocation problems where the team of robots operates in dynamic and uncertain environments. In some of these problems, it is adequate to have a precise model of nondeterministic costs (e.g., time, distance) subject to change at run-time. In some other problems, probabilistic or stochastic approaches are adequate to incorporate uncertainties into the problem formulation. For these settings, we propose algorithms that model dynamics owing to robot interactions, new cost representations incorporating uncertainty, algorithms specialized for the representations, and policies for tasks arriving in an online manner. First, we consider multi-robot task assignment problems where costs for performing tasks are interrelated, and the overall team objective need not be a standard sum-of costs (or utilities) model, enabling straightforward treatment of the additional costs incurred by resource contention. In the model we introduce, a team may choose one of a set of shared resources to perform a task (e.g., several routes to reach a destination), and resource contention is modeled when multiple robots use the same resource. We propose efficient task assignment algorithms that model this contention with different forms of domain knowledge and compute an optimal assignment under such a model. Second, we address the problem of finding the optimal assignment of tasks to a team of robots when the associated costs may vary, which arises when robots deal with uncertain situations. We propose a region-based cost representation incorporating the cost uncertainty and modeling interrelationships among costs. We detail how to compute a sensitivity analysis that characterizes how much costs may change before optimality is violated. Using this analysis, robots are able to avoid unnecessary re-assignment computations and reduce global communication when costs change. Third, we consider multi-robot teams operating in probabilistic domains. We represent costs by distributions capturing the uncertainty in the environment. This representation also incorporates inter-robot couplings in planning the team’s coordination. We do not have the assumption that costs are independent, which is frequently used in probabilistic models. We propose algorithms that help in understanding the effects of different characterizations of cost distributions such as mean and Conditional Value-at-Risk (CVaR), in which the latter assesses the risk of… Advisors/Committee Members: Shell, Dylan A (advisor), Butenko, Sergiy (committee member), Choe, Yoonsuck (committee member), Song, Dezhen (committee member).

Subjects/Keywords: Multi-robot systems; multi-robot task allocation; task planning

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APA (6^th Edition):

Nam, C. (2016). Assignment Algorithms for Multi-Robot Task Allocation in Uncertain and Dynamic Environments. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/158027

Chicago Manual of Style (16^th Edition):

Nam, Changjoo. “Assignment Algorithms for Multi-Robot Task Allocation in Uncertain and Dynamic Environments.” 2016. Doctoral Dissertation, Texas A&M University. Accessed February 28, 2021. http://hdl.handle.net/1969.1/158027.

MLA Handbook (7^th Edition):

Nam, Changjoo. “Assignment Algorithms for Multi-Robot Task Allocation in Uncertain and Dynamic Environments.” 2016. Web. 28 Feb 2021.

Vancouver:

Nam C. Assignment Algorithms for Multi-Robot Task Allocation in Uncertain and Dynamic Environments. [Internet] [Doctoral dissertation]. Texas A&M University; 2016. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1969.1/158027.

Council of Science Editors:

Nam C. Assignment Algorithms for Multi-Robot Task Allocation in Uncertain and Dynamic Environments. [Doctoral Dissertation]. Texas A&M University; 2016. Available from: http://hdl.handle.net/1969.1/158027

Delft University of Technology

7. Mauro, Francesco (author). Towards the design of an effective and robust multi-robot parcel sorting system.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:4d891d5f-defc-42e8-9f5f-00caf23f2c4c

► In the Netherlands, PostNL and Prime Vision are working together on the development of a new sorting system, using a multi-robot approach. This master thesis… (more)

Subjects/Keywords: Multi-robot systems; Warehouse automation; Multi-robot task assignment; Agent-based simulation; Multi-robot motion coordination

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APA (6^th Edition):

Mauro, F. (. (2017). Towards the design of an effective and robust multi-robot parcel sorting system. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:4d891d5f-defc-42e8-9f5f-00caf23f2c4c

Chicago Manual of Style (16^th Edition):

Mauro, Francesco (author). “Towards the design of an effective and robust multi-robot parcel sorting system.” 2017. Masters Thesis, Delft University of Technology. Accessed February 28, 2021. http://resolver.tudelft.nl/uuid:4d891d5f-defc-42e8-9f5f-00caf23f2c4c.

MLA Handbook (7^th Edition):

Mauro, Francesco (author). “Towards the design of an effective and robust multi-robot parcel sorting system.” 2017. Web. 28 Feb 2021.

Vancouver:

Mauro F(. Towards the design of an effective and robust multi-robot parcel sorting system. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Feb 28]. Available from: http://resolver.tudelft.nl/uuid:4d891d5f-defc-42e8-9f5f-00caf23f2c4c.

Council of Science Editors:

Mauro F(. Towards the design of an effective and robust multi-robot parcel sorting system. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:4d891d5f-defc-42e8-9f5f-00caf23f2c4c

University of South Africa

8. Ramharuk, Vikash. Survivable cloud multi-robotics framework for heterogeneous environments .

Degree: 2015, University of South Africa

URL: http://hdl.handle.net/10500/19698

► The emergence of cloud computing has transformed the potential of robotics by enabling multi-robotic teams to fulfil complex tasks in the cloud. This paradigm is… (more)

▼ The emergence of cloud computing has transformed the potential of robotics by enabling multi-robotic teams to fulfil complex tasks in the cloud. This paradigm is known as “cloud robotics” and relieves robots from hardware and software limitations, as large amounts of available resources and parallel computing capabilities are available in the cloud. The introduction of cloud-enabled robots alleviates the need for computationally intensive robots to be built, as many, if not all, of the CPU-intensive tasks can be offloaded into the cloud, resulting in multi-robots that require much less power, energy consumption and on-board processing units. While the benefits of cloud robotics are clearly evident and have resulted in an increase in interest among the scientific community, one of the biggest challenges of cloud robotics is the inherent communication challenges brought about by disconnections between the multi-robotic system and the cloud. The communication delays brought about by the cloud disconnection results in robots not being able to receive and transmit data to the physical cloud. The unavailability of these robotic services in certain instances could prove fatal in a heterogeneous environment that requires multi-robotic teams to assist with the saving of human lives. This niche area is relatively unexplored in the literature. This work serves to assist with the challenge of disconnection in cloud robotics by proposing a survivable cloud multi-robotics (SCMR) framework for heterogeneous environments. The SCMR framework leverages the combination of a virtual ad hoc network formed by the robot-to-robot communication and a physical cloud infrastructure formed by the robot-to-cloud communications. The Quality of Service (QoS) on the SCMR framework is tested and validated by determining the optimal energy utilization and Time of Response (ToR) on drivability analysis with and without cloud connection. The experimental results demonstrate that the proposed framework is feasible for current multi-robotic applications and shows the survivability aspect of the framework in instances of cloud disconnection. Advisors/Committee Members: Osunmakinde, Isaac Olusegun (advisor).

Subjects/Keywords: Cloud; Dsiconnection; Drivability; Multi-robotics; Robot to robot; Robot to cloud; Statistical region merging; Survivability

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APA (6^th Edition):

Ramharuk, V. (2015). Survivable cloud multi-robotics framework for heterogeneous environments . (Masters Thesis). University of South Africa. Retrieved from http://hdl.handle.net/10500/19698

Chicago Manual of Style (16^th Edition):

Ramharuk, Vikash. “Survivable cloud multi-robotics framework for heterogeneous environments .” 2015. Masters Thesis, University of South Africa. Accessed February 28, 2021. http://hdl.handle.net/10500/19698.

MLA Handbook (7^th Edition):

Ramharuk, Vikash. “Survivable cloud multi-robotics framework for heterogeneous environments .” 2015. Web. 28 Feb 2021.

Vancouver:

Ramharuk V. Survivable cloud multi-robotics framework for heterogeneous environments . [Internet] [Masters thesis]. University of South Africa; 2015. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/10500/19698.

Council of Science Editors:

Ramharuk V. Survivable cloud multi-robotics framework for heterogeneous environments . [Masters Thesis]. University of South Africa; 2015. Available from: http://hdl.handle.net/10500/19698

University of New South Wales

9. Buehler, Jennifer. Capabilities in Heterogeneous Robot Systems.

Degree: Computer Science & Engineering, 2015, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/55836 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:39506/SOURCE02?view=true

► Heterogeneous robot systems are characterized by the robots' diversity, each contributing different capabilities that can be utilised to complete tasks. Such diversity does not only… (more)

▼ Heterogeneous robot systems are characterized by the robots' diversity, each contributing different capabilities that can be utilised to complete tasks. Such diversity does not only emerge from differences in hardware, but also from distinct robot software and algorithms. Due to the large variety of robotic systems available today, there is a need for flexible software architectures enabling easy integration of new robot configurations into existing systems. Platform-independence is highly desirable. One step in achieving platform-independent software systems is to identify common functionalities for which interfaces can be designed such that specific implementations may vary among platforms, while interaction between the common modules remains platform-independent. A robot capability may be such a functionality which can be provided by several different robots, regardless varying implementations. A platform-independent model defining such robot capabilities can also include a measure of quality or extent for each capability, describing the individual robot's skill level for a capability. Once it is determined which capabilities are required to complete a task, such quality measures provide a means for evaluating and comparing the robots' suitability for the task. Finding which capabilities are required to solve a task is part of the task planning step. When capabilities are defined such that a whole task can be described by them (e.g., reach, grasp, lift, then move), a planner can find task solutions consisting of robot capabilities required to achieve a goal.This thesis proposes a platform-independent model of robot capabilities and develops a framework for task planning among teams of robots based on this capability model. Individual capabilities are examined in detail, discussing possible quality measures and establishing required data flow between capabilities. The task planner can find and evaluate a plan based on various degrees of approximate information available at planning time. Existing planning techniques need to be extended in order to reflect concurrent data flow in a robotic system. For execution of the tasks on the robots, a framework based on the Robot Operating System (ROS) implementing the capability model has been developed. Results show that the capability model can provide an integrated framework for task planning and execution. The work is evaluated by empirical results in simulation and on a real robot. Advisors/Committee Members: Pagnucco, Maurice, Computer Science & Engineering, Faculty of Engineering, UNSW.

Subjects/Keywords: Robot task execution; Robot capabilities; Task planning; Temporal planner; Multi robot systems

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APA (6^th Edition):

Buehler, J. (2015). Capabilities in Heterogeneous Robot Systems. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/55836 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:39506/SOURCE02?view=true

Chicago Manual of Style (16^th Edition):

Buehler, Jennifer. “Capabilities in Heterogeneous Robot Systems.” 2015. Doctoral Dissertation, University of New South Wales. Accessed February 28, 2021. http://handle.unsw.edu.au/1959.4/55836 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:39506/SOURCE02?view=true.

MLA Handbook (7^th Edition):

Buehler, Jennifer. “Capabilities in Heterogeneous Robot Systems.” 2015. Web. 28 Feb 2021.

Vancouver:

Buehler J. Capabilities in Heterogeneous Robot Systems. [Internet] [Doctoral dissertation]. University of New South Wales; 2015. [cited 2021 Feb 28]. Available from: http://handle.unsw.edu.au/1959.4/55836 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:39506/SOURCE02?view=true.

Council of Science Editors:

Buehler J. Capabilities in Heterogeneous Robot Systems. [Doctoral Dissertation]. University of New South Wales; 2015. Available from: http://handle.unsw.edu.au/1959.4/55836 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:39506/SOURCE02?view=true

Rochester Institute of Technology

10. Stewart, Terence. Bruce, the multi-function robot.

Degree: School of Design (CIAS), 2012, Rochester Institute of Technology

URL: https://scholarworks.rit.edu/theses/6090

► In our daily life. It has becoming really busy, perhaps more than ever. And trying to do thing at personal time is nearly impossible. You… (more)

Subjects/Keywords: Assistance; Interaction; Market; Multi-purpose; Robot; Versatile

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APA (6^th Edition):

Stewart, T. (2012). Bruce, the multi-function robot. (Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/6090

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Stewart, Terence. “Bruce, the multi-function robot.” 2012. Thesis, Rochester Institute of Technology. Accessed February 28, 2021. https://scholarworks.rit.edu/theses/6090.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Stewart, Terence. “Bruce, the multi-function robot.” 2012. Web. 28 Feb 2021.

Vancouver:

Stewart T. Bruce, the multi-function robot. [Internet] [Thesis]. Rochester Institute of Technology; 2012. [cited 2021 Feb 28]. Available from: https://scholarworks.rit.edu/theses/6090.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Stewart T. Bruce, the multi-function robot. [Thesis]. Rochester Institute of Technology; 2012. Available from: https://scholarworks.rit.edu/theses/6090

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Oregon State University

11. Zhang, Yawei. Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning.

Degree: MS, Robotics, 2015, Oregon State University

URL: http://hdl.handle.net/1957/57466

► Efficient coordination is desired for multi-robot systems in many scenarios. In this research, we first provide a multi-robot system to help human workers during tree… (more)

Subjects/Keywords: Multi-robot coordination; Robots – Control systems

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APA (6^th Edition):

Zhang, Y. (2015). Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning. (Masters Thesis). Oregon State University. Retrieved from http://hdl.handle.net/1957/57466

Chicago Manual of Style (16^th Edition):

Zhang, Yawei. “Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning.” 2015. Masters Thesis, Oregon State University. Accessed February 28, 2021. http://hdl.handle.net/1957/57466.

MLA Handbook (7^th Edition):

Zhang, Yawei. “Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning.” 2015. Web. 28 Feb 2021.

Vancouver:

Zhang Y. Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning. [Internet] [Masters thesis]. Oregon State University; 2015. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1957/57466.

Council of Science Editors:

Zhang Y. Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning. [Masters Thesis]. Oregon State University; 2015. Available from: http://hdl.handle.net/1957/57466

Anna University

12. Elango M. Methods for solving balanced multi robot task allocation problem;.

Degree: balanced multi robot task allocation problem, 2014, Anna University

URL: http://shodhganga.inflibnet.ac.in/handle/10603/25847

►

Robotics research in recent years focuses on multi robot systems since a single robot is no longer the best solution for application domains such as… (more)

Subjects/Keywords: allocation problem; mechanical engineering; multi robot task

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APA (6^th Edition):

M, E. (2014). Methods for solving balanced multi robot task allocation problem;. (Thesis). Anna University. Retrieved from http://shodhganga.inflibnet.ac.in/handle/10603/25847

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

M, Elango. “Methods for solving balanced multi robot task allocation problem;.” 2014. Thesis, Anna University. Accessed February 28, 2021. http://shodhganga.inflibnet.ac.in/handle/10603/25847.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

M, Elango. “Methods for solving balanced multi robot task allocation problem;.” 2014. Web. 28 Feb 2021.

Vancouver:

M E. Methods for solving balanced multi robot task allocation problem;. [Internet] [Thesis]. Anna University; 2014. [cited 2021 Feb 28]. Available from: http://shodhganga.inflibnet.ac.in/handle/10603/25847.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

M E. Methods for solving balanced multi robot task allocation problem;. [Thesis]. Anna University; 2014. Available from: http://shodhganga.inflibnet.ac.in/handle/10603/25847

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Texas A&M University

13. Kim, Jung-Hwan. New Models of Self-Organized Multi-Robot Clustering.

Degree: PhD, Computer Science, 2015, Texas A&M University

URL: http://hdl.handle.net/1969.1/156498

► For self-organized multi-robot systems, one of the widely studied task domains is object clustering, which involves gathering randomly scattered objects into a single pile. Earlier… (more)

▼ For self-organized multi-robot systems, one of the widely studied task domains is object clustering, which involves gathering randomly scattered objects into a single pile. Earlier studies have pointed out that environment boundaries influence the cluster formation process, generally causing clusters to form around the perimeter rather than centrally within the workspace. Nevertheless, prior analytical models ignore boundary effects and employ the simplifying assumption that clusters pack into rotationally symmetric forms. In this study, we attempt to solve the problem of the boundary interference in object clustering. We propose new behaviors, twisting and digging, which exploit the geometry of the object to detach objects from the boundaries and cover different regions within the workplace. Also, we derive a set of conditions that is required to prevent boundaries causing perimeter clusters, developing a mathematical model to explain how multiple clusters evolve into a single cluster. Through analysis of the model, we show that the time-averaged spatial densities of the robots play a significant role in producing conditions which ensure that a single central cluster emerges and validate it with experiments. We further seek to understand the clustering process more broadly by investigating the problem of clustering in settings involving different object geometries. We initiate a study of this important area by considering a variety of rectangular objects that produce diverse shapes according to different packing arrangements. In addition, on the basis of the observation that cluster shape reflects object geometry, we develop cluster models that describe clustering dynamics across different object geometries. Also, we attempt to address the question of how to maximize the system performance by computing a policy for altering the robot division of labor as a function of time. We consider a sequencing strategy based on the hypothesis that since the clustering performance is influenced by the division of labor, it can be improved by sequencing different divisions of labor. We develop a stochastic model to predict clustering behavior and propose a method that uses the model's predictions to select a sequential change in labor distribution. We validate our proposed method that increases clustering performance on physical robot experiments. Advisors/Committee Members: Shell, Dylan A. (advisor), Murphy, Robin (committee member), Song, Dezhen (committee member), Rao, Suhasini Subba (committee member).

Subjects/Keywords: Self-organized multi-robot system; Object clustering

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Kim, J. (2015). New Models of Self-Organized Multi-Robot Clustering. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/156498

Chicago Manual of Style (16^th Edition):

Kim, Jung-Hwan. “New Models of Self-Organized Multi-Robot Clustering.” 2015. Doctoral Dissertation, Texas A&M University. Accessed February 28, 2021. http://hdl.handle.net/1969.1/156498.

MLA Handbook (7^th Edition):

Kim, Jung-Hwan. “New Models of Self-Organized Multi-Robot Clustering.” 2015. Web. 28 Feb 2021.

Vancouver:

Kim J. New Models of Self-Organized Multi-Robot Clustering. [Internet] [Doctoral dissertation]. Texas A&M University; 2015. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1969.1/156498.

Council of Science Editors:

Kim J. New Models of Self-Organized Multi-Robot Clustering. [Doctoral Dissertation]. Texas A&M University; 2015. Available from: http://hdl.handle.net/1969.1/156498

Texas A&M University

14. Ghoshal, Asish. Rapidly-exploring Random Tree Inspired Multi-robot Space Coverage.

Degree: MS, Computer Science, 2012, Texas A&M University

URL: http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11217

► Inspired by the Rapidly-exploring Random Tree (RRT) data-structure and algorithm for path planning, we introduce an approach for spanning physical space with a group of… (more)

Subjects/Keywords: RRT; Multi-Robot systems; space-filling

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APA (6^th Edition):

Ghoshal, A. (2012). Rapidly-exploring Random Tree Inspired Multi-robot Space Coverage. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11217

Chicago Manual of Style (16^th Edition):

Ghoshal, Asish. “Rapidly-exploring Random Tree Inspired Multi-robot Space Coverage.” 2012. Masters Thesis, Texas A&M University. Accessed February 28, 2021. http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11217.

MLA Handbook (7^th Edition):

Ghoshal, Asish. “Rapidly-exploring Random Tree Inspired Multi-robot Space Coverage.” 2012. Web. 28 Feb 2021.

Vancouver:

Ghoshal A. Rapidly-exploring Random Tree Inspired Multi-robot Space Coverage. [Internet] [Masters thesis]. Texas A&M University; 2012. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11217.

Council of Science Editors:

Ghoshal A. Rapidly-exploring Random Tree Inspired Multi-robot Space Coverage. [Masters Thesis]. Texas A&M University; 2012. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11217

McMaster University

15. Vu, Anh-Duy. Software Approaches to Optimize Energy Consumption for a Team of Distributed Autonomous Mobile Robots.

Degree: 2019, McMaster University

URL: http://hdl.handle.net/11375/24839

► In recent years, we have seen the applications of distributed autonomous mobile robots (DAMRs) in a broad spectrum of areas like search and rescue, disaster… (more)

▼ In recent years, we have seen the applications of distributed autonomous mobile robots (DAMRs) in a broad spectrum of areas like search and rescue, disaster management, warehouse, and delivery systems. Although each type of systems employing DAMRs has its specific challenges, they are all limited by energy since the robots are powered by batteries which have not advanced in decades. This motivates the development of energy efficiency for such systems. Although there has been research on optimizing energy for robotic systems, their approaches are from low-level (e.g., mechanic, system control, or avionic) perspectives. They, therefore, are limited to a specific type of robots and not easily adjusted to apply for different types of robots. Moreover, there is a lack of work studying the problem from a software perspective and abstraction. In this thesis, we tackle the problem from a software perspective and are particularly interested in DAMR systems in which a team of networked robots navigating in a physical environment and acting in concert to accomplish a common goal. Also, the primary focus of our work is to design schedules (or plans) for the robots so that they can achieve their goal while spending as little energy as possible. To this end, we study the problem in three different contexts: - Managing reliability and energy consumption tradeoff. That is, we propose that robots verify computational results of one another to increase the corroboration of outputs of our DAMR systems. However, this new feature requires robots to do additional tasks and consume more energy. Thus, we propose approaches to reach a balance between energy consumption and the reliability of results obtained by our DAMR systems. - Extending the operational time of robots. We first propose that our DAMR systems should employ charging stations where robots can come to recharge their batteries. Then, we aim to design schedules for the robots so that they can finish all their tasks while consuming as little energy and time (including the time spent for recharging) as possible. Moreover, we model the working space by a connected (possibly incomplete) graph to make the problem more practical. - Coping with environmental changes. This path planning problem takes into account not only energy limits but also changes in the physical environment, which may result in overheads (i.e., additional time and energy) that robots incur while doing their tasks. To tackle the problem from a software perspective, we first utilize Gaussian Process and Polynomial Regression to model disturbances and energy consumption, respectively, then proposed techniques to generate plans and adjust them when robots detect environmental changes. For each problem, we give a formal description, a transformation to integer (linear) programming, online algorithms, and an online algorithm. Moreover, we also rigorously analyze the proposed techniques by conducting simulations and experiments in a real network of unmanned aerial vehicles… Advisors/Committee Members: Karakostas, George, Computing and Software.

Subjects/Keywords: Multi-robot systems; Optimization; Energy consumption

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Vu, A. (2019). Software Approaches to Optimize Energy Consumption for a Team of Distributed Autonomous Mobile Robots. (Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/24839

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Vu, Anh-Duy. “Software Approaches to Optimize Energy Consumption for a Team of Distributed Autonomous Mobile Robots.” 2019. Thesis, McMaster University. Accessed February 28, 2021. http://hdl.handle.net/11375/24839.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Vu, Anh-Duy. “Software Approaches to Optimize Energy Consumption for a Team of Distributed Autonomous Mobile Robots.” 2019. Web. 28 Feb 2021.

Vancouver:

Vu A. Software Approaches to Optimize Energy Consumption for a Team of Distributed Autonomous Mobile Robots. [Internet] [Thesis]. McMaster University; 2019. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/11375/24839.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Vu A. Software Approaches to Optimize Energy Consumption for a Team of Distributed Autonomous Mobile Robots. [Thesis]. McMaster University; 2019. Available from: http://hdl.handle.net/11375/24839

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Stellenbosch University

16. Smit, Albert. Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform.

Degree: MScEng, Mechanical and Mechatronic Engineering, 2011, Stellenbosch University

URL: http://hdl.handle.net/10019.1/17785

►

ENGLISH ABSTRACT: RoboCup promotes research in robotics and multi-robot systems (MRS). The RoboCup Small Size League (SSL), in particular, offers an entry level opportunity to… (more)

▼

ENGLISH ABSTRACT: RoboCup promotes research in robotics and multi-robot systems (MRS). The RoboCup Small Size League (SSL), in particular, offers an entry level opportunity to take part in this field of study. This thesis presents a starting phase for research in robotics and MRS at Stellenbosch University. It includes the full documentation of the mechanical, electronic and software design of an omni-directional soccer robot for RoboCup SSL. The robot is also meant to operate as a hardware and software development platform for research in MRS. The platform was therefore designed with high-level programming language compatibility, a wide range of connectivity, and modularity in mind. The robot uses a single board computer (SBC) running a Linux operating system to accomplish these objectives. Moreover, a driver class library was written in C++ as a software application interface (API) for future development on the robot platform. The robot was also developed with a particular focus on a distributed control architecture. "Player" was implemented as the middleware, which can be used for communication between multiple robots in a distributed environment. Additionally, three tests were performed to demonstrate the functionality of the prototype: a PI speed control test, a direction accuracy test and a static communication test using the middleware. Recommendations for possible future work are also given.

AFRIKAANSE OPSOMMING: RoboCup bevorder navorsing in robotika en multi-robot-stelsels (MRS). Die RoboCup Klein Liga (KL) bied in die besonder die geleentheid om op intreevlak navorsing te doen in hierdie veld. Hierdie tesis verteenwoordig die eerste fase van navorsing in robotika en MRS by Stellenbosch Universiteit. Dit sluit die volledige dokumentasie van die meganiese, elektroniese en sagteware-ontwerp van ’n omnidireksionele sokker-robot vir die KL in. Die robot is ook veronderstel om te dien as ’n hardeware- en sagteware-ontwikkelingsplatform vir navorsing in MRS. Die platform is dus ontwerp met ’n verskeidenheid van uitbreingsmoontlikhede en modulariteit in gedagte asook die moontlikheid om gebruik te maak van ’n hoë-vlak programmeertaal. Om hierdie doelwitte te bereik, maak die robot gebruik van ’n enkel-bord-rekenaar met ’n Linux bedryfstelsel. Verder was ’n sagteware drywer in C++ geskryf om te dien as ’n sagteware-koppelvlak vir toekomstige ontwikkeling op die robot platform. Die robot is ook ontwikkel met die besondere fokus op ’n gedesentraliseerde beheerstels. Player was geïmplementeer as die middelware, wat gebruik kan word vir kommunikasie tussen verskeie robotte in ’n gedesentralliseerde beheerstelsel. Daar is drie toetse uitgevoer om die funksionaliteit van die prototipe te demonstreer, ’n PI spoed beheer toets, ’n rigting akkuraatheidstoets en ’n statiese kommunikasie toets deur van die middelware gebruik te maak. Aanbevelings vir moontlike toekomstige werk word ook verskaf.

Advisors/Committee Members: Scheffer, C., Kim, Y., Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering..

Subjects/Keywords: Mechatronic engineering; Robotics; Multi-robot systems

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Smit, A. (2011). Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform. (Masters Thesis). Stellenbosch University. Retrieved from http://hdl.handle.net/10019.1/17785

Chicago Manual of Style (16^th Edition):

Smit, Albert. “Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform.” 2011. Masters Thesis, Stellenbosch University. Accessed February 28, 2021. http://hdl.handle.net/10019.1/17785.

MLA Handbook (7^th Edition):

Smit, Albert. “Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform.” 2011. Web. 28 Feb 2021.

Vancouver:

Smit A. Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform. [Internet] [Masters thesis]. Stellenbosch University; 2011. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/10019.1/17785.

Council of Science Editors:

Smit A. Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform. [Masters Thesis]. Stellenbosch University; 2011. Available from: http://hdl.handle.net/10019.1/17785

Victoria University of Wellington

17. Chand, Praneel. Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots.

Degree: 2011, Victoria University of Wellington

URL: http://hdl.handle.net/10063/1828

► This thesis focuses on the development of an artificial intelligence system for a heterogeneous ensemble of mobile robots. Many robots in the ensemble may have… (more)

▼ This thesis focuses on the development of an artificial intelligence system for a heterogeneous ensemble of mobile robots. Many robots in the ensemble may have limited processing, communication, sensing, and/or actuation capabilities. This means that each robot may not be able to execute all tasks that are input to the system. A hierarchical system is proposed to permit robots with superior processing and communication abilities to assign tasks and coordinate the less computationally able robots. The limited processing robots may also utilise the resources of superior robots during task execution. Effective task allocation and coordination should result in efficient execution of a global task. Many existing approaches to robot task allocation assume expert knowledge for task specification. This is not ideal if a non-expert human user wants to modify the task requirements. A novel reduced human user input task allocation and feedback coordination technique for limited capability mobile robots is developed and implemented. Unlike existing approaches, the presented method focuses on expressing tasks and robots in terms of processing, communication, sensing, and actuation physical resources. This has the potential to allow non-expert human users to specify tasks to the team of robots. Fuzzy inference systems are utilised to simplify detailed robot information for comparison with simple human user inputs that represent task resource requirements. Like many existing task allocation methods, a greedy algorithm is employed to select robots. This can result in suboptimal task allocation. In addition to this, the non-expert user’s task specifications might be erroneous in some instances. Hence, a feedback coordination component monitors robot performance during task execution. In this thesis, a customised multi-robot mapping and exploration task is utilised as a model task to test the effectiveness of the developed task allocation and feedback coordination strategy. Extensive simulation experiments with various robot team configurations are executed in environments of varying sizes and obstacle densities to assess the performance of the technique. Task allocation is able to identify suitable robots and is robust to selection weight variation. The task allocation process is subjective to fuzzy membership function parameters which may vary for different This thesis focuses on the development of an artificial intelligence system for a heterogeneous ensemble of mobile robots. Many robots in the ensemble may have limited processing, communication, sensing, and/or actuation capabilities. This means that each robot may not be able to execute all tasks that are input to the system. A hierarchical system is proposed to permit robots with superior processing and communication abilities to assign tasks and coordinate the less computationally able robots. The limited processing robots may also utilise the resources of superior robots during task execution. Effective task allocation and coordination should result in efficient execution of… Advisors/Committee Members: Carnegie, Dale.

Subjects/Keywords: Multi-robot systems; Task allocation; Feedback coordination

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APA (6^th Edition):

Chand, P. (2011). Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots. (Doctoral Dissertation). Victoria University of Wellington. Retrieved from http://hdl.handle.net/10063/1828

Chicago Manual of Style (16^th Edition):

Chand, Praneel. “Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots.” 2011. Doctoral Dissertation, Victoria University of Wellington. Accessed February 28, 2021. http://hdl.handle.net/10063/1828.

MLA Handbook (7^th Edition):

Chand, Praneel. “Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots.” 2011. Web. 28 Feb 2021.

Vancouver:

Chand P. Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots. [Internet] [Doctoral dissertation]. Victoria University of Wellington; 2011. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/10063/1828.

Council of Science Editors:

Chand P. Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots. [Doctoral Dissertation]. Victoria University of Wellington; 2011. Available from: http://hdl.handle.net/10063/1828

Iowa State University

18. Laguna, Guillermo Jesus. Multirobot deployment, coordination and tracking strategies: A computational-geometric approach.

Degree: 2020, Iowa State University

URL: https://lib.dr.iastate.edu/etd/17824

► This dissertation addresses three novel problems in the visual-based target tracking field using a team of mobile observers/guards. In all the problems, there is a… (more)

▼ This dissertation addresses three novel problems in the visual-based target tracking field using a team of mobile observers/guards. In all the problems, there is a mobile and unpredictable target/intruder inside a closed and polygonal environment. A team of observers must maintain the target inside the field of view of at least one observer all the time. We explore the coordination and motion strategies that the observers require to achieve their objective when they are constrained to move along fixed paths in the environment. This work lays some ground on the target tracking field when the observers have limited motion capabilities, so it builds a bridge between typical pursuit-evasion games where the observer can move freely in the environment, and area coverage in robotics with static sensors. In the first problem, a team of diagonal guards is deployed inside the polygon to provide mobile coverage. In the first problem, we formulate the target tracking task as a multi-robot task allocation (MRTA) problem. Leveraging on guard deployment strategies in art gallery problems for mobile coverage, we show that the problem of finding the minimum speed of guards to persistently track a single mobile intruder is NP-hard. Next, for a given maximum speed of the intruder and the guards, we propose a technique to partition the polygon, and compute a feasible allocation of guards to the partitions. We prove the correctness of the proposed algorithm, and show its completeness for a specific class of inputs. We extend the proposed techniques to address guard deployment and allocation strategies for non-simple polygons and multiple intruders. Additionally, a hybrid automaton is designed to model the problem with a single intruder, and sufficient conditions are presented for the team of diagonal guards to guarantee persistent surveillance. In the second problem, a team of static and mobile guards track a mobile intruder with unknown maximum speed. We consider the special case when the mobile guards are restricted to move along the diagonals of a polygonal environment. First, we present an algorithm to identify candidate vertices in a polygon at which either static guards can be placed or they can serve as an endpoint of the segment on which mobile guards move. Finally, we present a strategy to activate/deactivate static guards based on the speed of the intruder. For the third problem, we consider the case of a single guard and a single intruder. The guard can move along a more complex trajectory and its responsible of persistently tracking the intruder. The concept of a p-route is introduced, which is the fixed path of the mobile observer. Next, we address the problem of minimizing the speed required by the observer to guarantee persistent tracking along a given p-route, which is proven to be at most three times the optimal speed. We propose a metric for tracking to estimate a sufficient speed for the observer given the geometry of the environment. A reactive motion strategy for the observer is presented. Moreover, we show that the…

Subjects/Keywords: Computational Geometry; Multi-robot Systems; Target Tracking

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APA (6^th Edition):

Laguna, G. J. (2020). Multirobot deployment, coordination and tracking strategies: A computational-geometric approach. (Thesis). Iowa State University. Retrieved from https://lib.dr.iastate.edu/etd/17824

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Laguna, Guillermo Jesus. “Multirobot deployment, coordination and tracking strategies: A computational-geometric approach.” 2020. Thesis, Iowa State University. Accessed February 28, 2021. https://lib.dr.iastate.edu/etd/17824.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Laguna, Guillermo Jesus. “Multirobot deployment, coordination and tracking strategies: A computational-geometric approach.” 2020. Web. 28 Feb 2021.

Vancouver:

Laguna GJ. Multirobot deployment, coordination and tracking strategies: A computational-geometric approach. [Internet] [Thesis]. Iowa State University; 2020. [cited 2021 Feb 28]. Available from: https://lib.dr.iastate.edu/etd/17824.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Laguna GJ. Multirobot deployment, coordination and tracking strategies: A computational-geometric approach. [Thesis]. Iowa State University; 2020. Available from: https://lib.dr.iastate.edu/etd/17824

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Georgia Tech

19. Zhong, Hai. Congestion game-based task allocation for multi-robot teams.

Degree: MS, Electrical and Computer Engineering, 2020, Georgia Tech

URL: http://hdl.handle.net/1853/62843

► Multi-robot teams can complete complex missions that are not amenable to an individual robot. A team of heterogeneous robots with complementing capabilities is endowed with… (more)

▼ Multi-robot teams can complete complex missions that are not amenable to an individual robot. A team of heterogeneous robots with complementing capabilities is endowed with advantages to allow deep collaboration in dynamic and complicated environments. Multi-robot Task Allocation (MRTA) presents a fundamental for multi-robot system research. Despite the previous research efforts, there remains a knowledge gap in developing decentralized approaches for MRTA by viewing robots as resources and optimizing the distribution of robots to achieve the best overall performance at the system level. To address this knowledge gap, the objective of this research is to develop decentralized resource allocation algorithms to provide approximate solutions for the MRTA problem. Both standard congestion game theory and weighted congestion game theory are exploited as the theoretical framework to formulate and solve the MRTA problems. Two types of resource allocation problems are considered, one has increasing marginal gain with respect to the number of participating robots, the other has decreasing marginal gain with respect to the number of participating robots. For MRTA problems with homogeneous robot teams, the sequential best response dynamics is integrated in the framework of standard congestion game theory. A concurrent version of best response dynamics with convergence guarantees is developed. In addition, a decentralized dual greedy algorithm is proposed and its convergence to a pure Nash equilibrium is proved. For MRTA problems with heterogeneous robot teams, the best sequential dynamics is shown to converge to pure Nash equilibrium in the framework of weighted congestion games. The suboptimality of the approximate solutions is discussed by λ-μ smoothness technique. Simulations and experiments using robots in the Robotarium are conducted to validate the effectiveness of the proposed algorithms. Advisors/Committee Members: Hutchinson, Seth (advisor), Coogan, Samuel (committee member), Vamvoudakis, Kyriakos (committee member).

Subjects/Keywords: Multi-robot systems; Task allocation; Congestion games

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APA (6^th Edition):

Zhong, H. (2020). Congestion game-based task allocation for multi-robot teams. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62843

Chicago Manual of Style (16^th Edition):

Zhong, Hai. “Congestion game-based task allocation for multi-robot teams.” 2020. Masters Thesis, Georgia Tech. Accessed February 28, 2021. http://hdl.handle.net/1853/62843.

MLA Handbook (7^th Edition):

Zhong, Hai. “Congestion game-based task allocation for multi-robot teams.” 2020. Web. 28 Feb 2021.

Vancouver:

Zhong H. Congestion game-based task allocation for multi-robot teams. [Internet] [Masters thesis]. Georgia Tech; 2020. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1853/62843.

Council of Science Editors:

Zhong H. Congestion game-based task allocation for multi-robot teams. [Masters Thesis]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/62843

Universidade Nova

20. Dias, Bruno Miguel Morais. Integration of a mobile autonomous robot in a surveillance multi-agent system.

Degree: 2015, Universidade Nova

URL: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/14715

► This dissertation aims to guarantee the integration of a mobile autonomous robot equipped with many sensors in a multi-agent distributed and georeferenced surveillance system. The… (more)

Subjects/Keywords: Multi-agent system; Mobile robot; Surveillance system

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APA (6^th Edition):

Dias, B. M. M. (2015). Integration of a mobile autonomous robot in a surveillance multi-agent system. (Thesis). Universidade Nova. Retrieved from http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/14715

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Dias, Bruno Miguel Morais. “Integration of a mobile autonomous robot in a surveillance multi-agent system.” 2015. Thesis, Universidade Nova. Accessed February 28, 2021. http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/14715.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Dias, Bruno Miguel Morais. “Integration of a mobile autonomous robot in a surveillance multi-agent system.” 2015. Web. 28 Feb 2021.

Vancouver:

Dias BMM. Integration of a mobile autonomous robot in a surveillance multi-agent system. [Internet] [Thesis]. Universidade Nova; 2015. [cited 2021 Feb 28]. Available from: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/14715.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Dias BMM. Integration of a mobile autonomous robot in a surveillance multi-agent system. [Thesis]. Universidade Nova; 2015. Available from: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/14715

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Texas A&M University

21. Motes, James. Interaction Templates for Multi-Robot Systems.

Degree: MS, Computer Science, 2019, Texas A&M University

URL: http://hdl.handle.net/1969.1/188780

► This work describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine… (more)

Subjects/Keywords: Multi-Robot; Motion Planning; Task Planning

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APA (6^th Edition):

Motes, J. (2019). Interaction Templates for Multi-Robot Systems. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/188780

Chicago Manual of Style (16^th Edition):

Motes, James. “Interaction Templates for Multi-Robot Systems.” 2019. Masters Thesis, Texas A&M University. Accessed February 28, 2021. http://hdl.handle.net/1969.1/188780.

MLA Handbook (7^th Edition):

Motes, James. “Interaction Templates for Multi-Robot Systems.” 2019. Web. 28 Feb 2021.

Vancouver:

Motes J. Interaction Templates for Multi-Robot Systems. [Internet] [Masters thesis]. Texas A&M University; 2019. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1969.1/188780.

Council of Science Editors:

Motes J. Interaction Templates for Multi-Robot Systems. [Masters Thesis]. Texas A&M University; 2019. Available from: http://hdl.handle.net/1969.1/188780

Delft University of Technology

22. Charitidou, Maria (author). Multi-Robot Path Planning for Persistent Coverage Tasks with Performance Guarantees.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:247f8502-1071-4a76-81a8-31ae65c425aa

►

Recent advances on the design of autonomous mobile agents have motivated the use of the latter in persistent surveillance tasks with applications in agriculture, information… (more)

▼

Recent advances on the design of autonomous mobile agents have motivated the use of the latter in persistent surveillance tasks with applications in agriculture, information gathering and search and rescue missions. In these tasks the goal is to design agents’ paths so as every point in the area of interest is covered more than once. In literature the persistent surveillance problem has been addressed under two different frameworks: 1) the visitation frequency of a finite set of points (discrete spaces) and 2) the amount of coverage offered by the agents over the area of interest. In the first category agents aim at visiting a finite set of points in the area so as the time elapsed since a point was last visited is minimized over the set. Here, the environment is considered static and no information on the coverage condition of the points is available. In the second category the environment is characterized by a property that changes over time, called coverage level and the goal is to design agents’ paths so as the coverage level is maintained at a desired level over the area. In this approach the error between the actual and desired coverage level of the area is bounded. However, locally no information is available on the frequency at which each point gets covered. The novelty of this thesis lies in the integration of the aforementioned solution approaches so as complete coverage information is provided for a finite set of points. Here, the goal is to design the agents’ paths so as the coverage level of each point is bounded from below by a desired level. The paths are planned over a finite optimization horizon and found as a solution to a Mixed Integer Linear Program (MILP). Two formulations of the problem are proposed and their efficiency is validated in simulation. The recursive feasibility of the centralized problem is also guaranteed when a set of time-varying terminal constraints is introduced to the problem. These constraints force agents to move along a pre-defined set of closed paths designed in a way that the coverage level boundness constraint is always satisfied. A two-step method is proposed for their design that relies on the solution of a Linear Program (LP) when a set of closed paths violating the objective is given, found as a solution to a modified version of the proposed MILP at step 1. Finally, two distributed formulations of the problem are introduced in which agents solve in parallel a local path planning problem. The difference on these methods lies in the accuracy of the information available to the agents for planning. Despite this difference simulation tests show a difference of only 1.5% in the coverage level performance when various sized teams of agents are employed for the task.

Mechanical Engineering | Systems and Control

Advisors/Committee Members: Keviczky, Tamas (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: Multi-robot systems; MILP; Persistent Coverage

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APA (6^th Edition):

Charitidou, M. (. (2019). Multi-Robot Path Planning for Persistent Coverage Tasks with Performance Guarantees. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:247f8502-1071-4a76-81a8-31ae65c425aa

Chicago Manual of Style (16^th Edition):

Charitidou, Maria (author). “Multi-Robot Path Planning for Persistent Coverage Tasks with Performance Guarantees.” 2019. Masters Thesis, Delft University of Technology. Accessed February 28, 2021. http://resolver.tudelft.nl/uuid:247f8502-1071-4a76-81a8-31ae65c425aa.

MLA Handbook (7^th Edition):

Charitidou, Maria (author). “Multi-Robot Path Planning for Persistent Coverage Tasks with Performance Guarantees.” 2019. Web. 28 Feb 2021.

Vancouver:

Charitidou M(. Multi-Robot Path Planning for Persistent Coverage Tasks with Performance Guarantees. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Feb 28]. Available from: http://resolver.tudelft.nl/uuid:247f8502-1071-4a76-81a8-31ae65c425aa.

Council of Science Editors:

Charitidou M(. Multi-Robot Path Planning for Persistent Coverage Tasks with Performance Guarantees. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:247f8502-1071-4a76-81a8-31ae65c425aa

University of New Mexico

23. Cortez, Randy Andres. Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach.

Degree: Mechanical Engineering, 2011, University of New Mexico

URL: http://hdl.handle.net/1928/12074

► Currently in the literature there does not exist a framework which incorporates a heterogeneous team of agents to solve the sensor network connectivity problem. An… (more)

▼ Currently in the literature there does not exist a framework which incorporates a heterogeneous team of agents to solve the sensor network connectivity problem. An approach that makes use of a heterogeneous team of agents has several advantages when cost, integration of capabilities, or possible large search areas need to be investigated. A heterogeneous team allows for the robots to become ``specialized'' in their abilities and therefore accomplish sub-goals more efficiently which in turn makes the overall mission more efficient. In Part I of this dissertation we address the problem of prioritized sensing of an area with a homogeneous sensor network. We derive a decentralized and collision free controller that drives the sensing agents to positions within the area that contain the highest probability of containing ``good information.'' We then apply this prioritized sensing controller to a target search scenario, where a group of cooperating UAVs must detect then track a maneuvering target within the search space. In Part II of this dissertation we relax the assumption of network connectivity within the sensor network and introduce mobile communication relays to the network. This addition converts the homogeneous sensor network to a heterogeneous one. Based on the communication geometry of both sensing and communication relay agents we derive communication constraints within the network that guarantee network connectivity. We then define a heterogeneous proximity graph that encodes the communication links that exist within the heterogeneous network. By specifying particular edge weights in the proximity graph, we provide a technique for biasing particular connections within the heterogenous sensor network. Through a minimal spanning tree approach, we show how to minimize communication links within the network which allows for larger feasible motion sets of the sensing agents that guarantee the network remains connected. We also provide an algorithm that allows for adding communication links to the minimal spanning tree of the heterogeneous proximity graph to create a biconnected graph that is robust to a single node failure. We then combine the prioritized search algorithm from Part I and the communication constraints from Part II to provide a decentralized prioritized sensing control algorithm for a heterogenous sensor network that maintains network connectivity. Lastly, in Part III we describe our robotic testbed that has been built to validate our proposed algorithms. We provide hardware experiments for both homogenous and heterogeneous sensor networks. Advisors/Committee Members: Fierro, Rafael, Lumia, Ron, Tanner, Herbert, Starr, Gregory.

Subjects/Keywords: Multi-Robot Control; Connectivity; Cooperative Robotics

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APA (6^th Edition):

Cortez, R. A. (2011). Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach. (Doctoral Dissertation). University of New Mexico. Retrieved from http://hdl.handle.net/1928/12074

Chicago Manual of Style (16^th Edition):

Cortez, Randy Andres. “Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach.” 2011. Doctoral Dissertation, University of New Mexico. Accessed February 28, 2021. http://hdl.handle.net/1928/12074.

MLA Handbook (7^th Edition):

Cortez, Randy Andres. “Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach.” 2011. Web. 28 Feb 2021.

Vancouver:

Cortez RA. Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach. [Internet] [Doctoral dissertation]. University of New Mexico; 2011. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1928/12074.

Council of Science Editors:

Cortez RA. Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach. [Doctoral Dissertation]. University of New Mexico; 2011. Available from: http://hdl.handle.net/1928/12074

University of Southern California

24. Su, Charles. Coalition formation for multi-robot systems.

Degree: MS, Computer Science (Robotics & Automation), 2007, University of Southern California

URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536107/rec/1417

► Coalition formation has become a relatively important subset of multi-robot task allocation of heterogeneous teams. The problem involves allocating subsets of a team, called a… (more)

▼ Coalition formation has become a relatively important subset of multi-robot task allocation of heterogeneous teams. The problem involves allocating subsets of a team, called a coalition, to the subtasks within tasks. In this work, tasks come from complex domains in which there exist many interdependencies between the subtasks. Many aspects of coalition formation in this setting will be studied with the goal of deciphering the algorithmic and system design necessary to achieve both good performance and accurate results.; Coalition formation for heterogeneous multi-robot systems is primarily an algorithmic problem that has already been approached in multiagent systems and robotics. The research thus far has not fully addressed complete and optimal allocation of highly interdependent multi-robot tasks, the major goal of this work. However many ideas from previous work can be borrowed and extended. Constraint satisfaction provides a well-studied framework for this investigation and therefore the selection and application of their techniques to multi-robot allocation are studied to produce an optimal polynomial time algorithm. Following this is the identification and analysis of other methods such as constraint optimization methods like branch and bound, as well as satisfaction methods including constraint propagation, and a novel algorithm that uses divide and conquer to reduce the runtime complexity.; The other side of this work regards the modeling of the problem and the design of the system. The definition of the problem's assumptions and goals can be used to find reasonable heuristics that reduce the space prior to and during the search. Design of the utility function can also hamper or benefit the performance of the allocation algorithm. Specific modeling decisions such as the recognition of classes within the team of robots can be combined with the constraint satisfaction algorithm to allow for tree decomposition to further reduce the problem complexity.; In the end this work provides a survey of the constraint satisfaction techniques available for solving complex problems such as search and rescue, viewed from the ground up. The viewpoint aids in highlighting the delicate relationship between problem assumptions, modeling, algorithmic design, and system design, which can all be exploited specifically to help find higher quality solutions more efficiently for constraint satisfaction problems in complex domains. Advisors/Committee Members: Koenig, Sven (Committee Chair), Sukhatme, Gaurav S. (Committee Member), Lerman, Kristina (Committee Member).

Subjects/Keywords: multi-robot coordination

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APA (6^th Edition):

Su, C. (2007). Coalition formation for multi-robot systems. (Masters Thesis). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536107/rec/1417

Chicago Manual of Style (16^th Edition):

Su, Charles. “Coalition formation for multi-robot systems.” 2007. Masters Thesis, University of Southern California. Accessed February 28, 2021. http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536107/rec/1417.

MLA Handbook (7^th Edition):

Su, Charles. “Coalition formation for multi-robot systems.” 2007. Web. 28 Feb 2021.

Vancouver:

Su C. Coalition formation for multi-robot systems. [Internet] [Masters thesis]. University of Southern California; 2007. [cited 2021 Feb 28]. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536107/rec/1417.

Council of Science Editors:

Su C. Coalition formation for multi-robot systems. [Masters Thesis]. University of Southern California; 2007. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536107/rec/1417

Virginia Tech

25. Bird, John Paul. Mixed Modes of Autonomy for Scalable Communication and Control of Multi-Robot Systems.

Degree: PhD, Mechanical Engineering, 2011, Virginia Tech

URL: http://hdl.handle.net/10919/29218

► Multi-robot systems (MRS) offer many performance benefits over single robots for tasks that can be completed by one robot. They offer potential redundancies to the… (more)

▼ Multi-robot systems (MRS) offer many performance benefits over single robots for tasks that can be completed by one robot. They offer potential redundancies to the system to improve robustness and allow tasks to be completed in parallel. These benefits, however, can be quickly offset by losses in productivity from diminishing returns caused by interference between robots and communication problems. This dissertation developed and evaluated MRS control architectures to solve the dynamic multi-robot autonomous routing problem. Dynamic multi-robot autonomous routing requires robots to complete a trip from their initial location at the time of task allocation to an assigned destination. The primary concern for the control architectures was how well the communication requirements and overall system performance scaled as the number of robots in the MRS got larger. The primary metrics for evaluation of the controller were the effective robot usage rate and the bandwidth usage. This dissertation evaluated several different approaches to solving dynamic multi-robot autonomous routing. The first three methods were based off of common MRS coordination approaches from previous research. These three control architectures with distributed control without communication (a swarm-like method), distributed control with communication, and centralized control. An additional architecture was developed to solve the problem in a way that scales better as the number of robots increase. This architecture, mixed mode autonomy, combines the strengths of distributed control with communication and centralized control. Like distributed control with communication, mixed mode autonomyâ s performance degrades gracefully with communication failures and is not dependent on a single controller. Like centralized control, there is oversight from a central controller to ensure repeatable high performance of the system. Each of the controllers other than distributed control without communication is based on building world models to facilitate coordination of the routes. A second variant of mixed mode autonomy was developed to allow robots to share parts of their world models with their peers when their models were incomplete or outdated. The system performance was evaluated for three example applications that represent different cases of dynamic multi-robot autonomous routing. These example applications were the automation of open pit mines, container terminals, and warehouses. The effective robot usage rates for mixed mode autonomy were generally significantly higher than the other controllers with a higher numbers of robots. The bandwidth usage was also much lower. These performance trends were also observed across a wide range of operating conditions for dynamic multi-robot autonomous routing. The original contributions from this work were the development of a new MRS control architecture, development of system model for the dynamic multi-robot autonomous routing problem, and identification of the tradeoffs for MRS design for the… Advisors/Committee Members: Wicks, Alfred L. (committeechair), Reinholtz, Charles F. (committee member), Kurdila, Andrew J. (committee member), Stilwell, Daniel J. (committee member), Woolsey, Craig A. (committee member).

Subjects/Keywords: Multi-robot systems; Coordinated Control; Autonomous Transportation

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APA (6^th Edition):

Bird, J. P. (2011). Mixed Modes of Autonomy for Scalable Communication and Control of Multi-Robot Systems. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/29218

Chicago Manual of Style (16^th Edition):

Bird, John Paul. “Mixed Modes of Autonomy for Scalable Communication and Control of Multi-Robot Systems.” 2011. Doctoral Dissertation, Virginia Tech. Accessed February 28, 2021. http://hdl.handle.net/10919/29218.

MLA Handbook (7^th Edition):

Bird, John Paul. “Mixed Modes of Autonomy for Scalable Communication and Control of Multi-Robot Systems.” 2011. Web. 28 Feb 2021.

Vancouver:

Bird JP. Mixed Modes of Autonomy for Scalable Communication and Control of Multi-Robot Systems. [Internet] [Doctoral dissertation]. Virginia Tech; 2011. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/10919/29218.

Council of Science Editors:

Bird JP. Mixed Modes of Autonomy for Scalable Communication and Control of Multi-Robot Systems. [Doctoral Dissertation]. Virginia Tech; 2011. Available from: http://hdl.handle.net/10919/29218

University of New South Wales

26. Ahmad, Waqqas. Distributed navigation of multi-robot systems for sensing coverage.

Degree: Electrical Engineering & Telecommunications, 2017, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true

► A team of coordinating mobile robots equipped with operation specific sensors canperform different coverage tasks. If the required number of robots in the team isvery… (more)

▼ A team of coordinating mobile robots equipped with operation specific sensors canperform different coverage tasks. If the required number of robots in the team isvery large then a centralized control system becomes a complex strategy. Thereare also some areas where centralized communication turns into an issue. So, ateam of mobile robots for coverage tasks should have the ability of decentralized ordistributed decision making. This thesis investigates decentralized control of mobilerobots specifically for coverage problems. A decentralized control strategy is ideallybased on local information and it can offer flexibility in case there is an incrementor decrement in the number of mobile robots. We perform a broad survey of theexisting literature for coverage control problems. There are different approachesassociated with decentralized control strategy for coverage control problems. Weperform a comparative review of these approaches and use the approach based onsimple local coordination rules. These locally computed nearest neighbour rules areused to develop decentralized control algorithms for coverage control problems.We investigate this extensively used nearest neighbour rule-based approach fordeveloping coverage control algorithms. In this approach, a mobile robot gives anequal importance to every neighbour robot coming under its communication range.We develop our control approach by making some of the mobile robots playinga more influential role than other members of the team. We develop the controlalgorithm based on nearest neighbour rules with weighted average functions. Theapproach based on this control strategy becomes efficient in terms of achieving aconsensus on control inputs, say heading angle, velocity, etc.The decentralized control of mobile robots can also exhibit a cyclic behaviourunder some physical constraints like a quantized orientation of the mobile robot.We further investigate the cyclic behaviour appearing due to the quantized controlof mobile robots under some conditions. Our nearest neighbour rule-based approachoffers a biased strategy in case of cyclic behaviour appearing in the team of mobilerobots.We consider a clustering technique inside the team of mobile robots. Our decentralizedcontrol strategy calculates the similarity measure among the neighboursof a mobile robot. The team of mobile robots with the similarity measure basedapproach becomes efficient in achieving a fast consensus like on heading angle orvelocity. We perform a rigorous mathematical analysis of our developed approach.We also develop a condition based on relaxed criteria for achieving consensus onvelocity or heading angle of the mobile robots. Our validation approach is based onmathematical arguments and extensive computer simulations. Advisors/Committee Members: Savkin, Andrey V., Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW.

Subjects/Keywords: Mobile robots; Multi-robot systems; Sensing coverage

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APA (6^th Edition):

Ahmad, W. (2017). Distributed navigation of multi-robot systems for sensing coverage. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true

Chicago Manual of Style (16^th Edition):

Ahmad, Waqqas. “Distributed navigation of multi-robot systems for sensing coverage.” 2017. Doctoral Dissertation, University of New South Wales. Accessed February 28, 2021. http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true.

MLA Handbook (7^th Edition):

Ahmad, Waqqas. “Distributed navigation of multi-robot systems for sensing coverage.” 2017. Web. 28 Feb 2021.

Vancouver:

Ahmad W. Distributed navigation of multi-robot systems for sensing coverage. [Internet] [Doctoral dissertation]. University of New South Wales; 2017. [cited 2021 Feb 28]. Available from: http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true.

Council of Science Editors:

Ahmad W. Distributed navigation of multi-robot systems for sensing coverage. [Doctoral Dissertation]. University of New South Wales; 2017. Available from: http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true

University of Sydney

27. D'Urso, Giovanni Salvatore. Multi-Robot Refill Scheduling with Queueing for Resource Constrained Coverage .

Degree: 2018, University of Sydney

URL: http://hdl.handle.net/2123/18759

► This thesis addresses the problem of refill scheduling for a team of vehicles or robots that must contend for access to a single physical location… (more)

Subjects/Keywords: multi-robot; coverage; centralised; queueing; agriculture; robotics

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APA (6^th Edition):

D'Urso, G. S. (2018). Multi-Robot Refill Scheduling with Queueing for Resource Constrained Coverage . (Thesis). University of Sydney. Retrieved from http://hdl.handle.net/2123/18759

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

D'Urso, Giovanni Salvatore. “Multi-Robot Refill Scheduling with Queueing for Resource Constrained Coverage .” 2018. Thesis, University of Sydney. Accessed February 28, 2021. http://hdl.handle.net/2123/18759.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

D'Urso, Giovanni Salvatore. “Multi-Robot Refill Scheduling with Queueing for Resource Constrained Coverage .” 2018. Web. 28 Feb 2021.

Vancouver:

D'Urso GS. Multi-Robot Refill Scheduling with Queueing for Resource Constrained Coverage . [Internet] [Thesis]. University of Sydney; 2018. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/2123/18759.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

D'Urso GS. Multi-Robot Refill Scheduling with Queueing for Resource Constrained Coverage . [Thesis]. University of Sydney; 2018. Available from: http://hdl.handle.net/2123/18759

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of New South Wales

28. Baranzadeh, Ahmad. Decentralized Autonomous Navigation Strategies for Multi-Robot Search and Rescue.

Degree: Electrical Engineering & Telecommunications, 2016, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/56489 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:40843/SOURCE02?view=true

► Use of multi-robot systems has many advantages over single robot systems in various applications. However, it comes with its own complexity and challenges. In this… (more)

▼ Use of multi-robot systems has many advantages over single robot systems in various applications. However, it comes with its own complexity and challenges. In this thesis, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the vertices of a triangular grid during the search procedure. The main advantage of using a triangular grid pattern is that it is asymptotically optimal in terms of the minimum number of robots required for the complete coverage of an arbitrary bounded area. Therefore, using the vertices of this triangular grid coverage guarantees complete search of a region as well as shorter search duration. We use a new topological map which is made and shared by robots during the search operation. We consider an area that is unknown to the robots a priori with an arbitrary shape, containing some obstacles. Unlike many current heuristic algorithms, we give mathematically rigorous proofs of convergence with probability 1 of the algorithms. The computer simulation results for the proposed algorithms are presented using a simulator of real robots and environment. We evaluate the performance of the algorithms via experiments with real Pioneer 3DX mobile robots. We compare the performance of our own algorithms with three existing algorithms from other researchers. The results demonstrate the merits of our proposed solution.A further study on formation building with obstacle avoidance for a team of mobile robots is presented in this thesis. We propose a robust decentralized formation building with obstacle avoidance algorithm for a group of mobile robots to move in a defined geometric configuration. Furthermore, we consider a more complicated formation problem with a group of anonymous robots; these robots are not aware of their position in the final configuration and need to reach a consensus during the formation process. We propose a randomized algorithm for the anonymous robots that achieves the convergence to a desired configuration with probability 1. We also propose a novel obstacle avoidance rule, used in the formation building algorithm. A mathematically rigorous proof of the proposed algorithm is given. The performance and applicability of the proposed algorithm are confirmed by the computer simulation results. Advisors/Committee Members: Savkin, Andrey V., Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW.

Subjects/Keywords: Navigation; Multi-robot; Search and Rescue

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APA (6^th Edition):

Baranzadeh, A. (2016). Decentralized Autonomous Navigation Strategies for Multi-Robot Search and Rescue. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/56489 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:40843/SOURCE02?view=true

Chicago Manual of Style (16^th Edition):

Baranzadeh, Ahmad. “Decentralized Autonomous Navigation Strategies for Multi-Robot Search and Rescue.” 2016. Doctoral Dissertation, University of New South Wales. Accessed February 28, 2021. http://handle.unsw.edu.au/1959.4/56489 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:40843/SOURCE02?view=true.

MLA Handbook (7^th Edition):

Baranzadeh, Ahmad. “Decentralized Autonomous Navigation Strategies for Multi-Robot Search and Rescue.” 2016. Web. 28 Feb 2021.

Vancouver:

Baranzadeh A. Decentralized Autonomous Navigation Strategies for Multi-Robot Search and Rescue. [Internet] [Doctoral dissertation]. University of New South Wales; 2016. [cited 2021 Feb 28]. Available from: http://handle.unsw.edu.au/1959.4/56489 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:40843/SOURCE02?view=true.

Council of Science Editors:

Baranzadeh A. Decentralized Autonomous Navigation Strategies for Multi-Robot Search and Rescue. [Doctoral Dissertation]. University of New South Wales; 2016. Available from: http://handle.unsw.edu.au/1959.4/56489 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:40843/SOURCE02?view=true

29. Howard, Vincent Michael. A Study of Gradient Climbing Technique Using Cluster Space Control of Multi-Robot Systems.

Degree: MSME, Mechanical Engineering, 2011, Santa Clara University

URL: https://scholarcommons.scu.edu/mech_mstr/31

► The design of the multi-robot system for distributed sensing and gradient climbing focuses on the capability to optimize the performance of tasks simultaneously. The… (more)

Subjects/Keywords: multi-robot; cluster control; gradient climbing; ASV

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APA (6^th Edition):

Howard, V. M. (2011). A Study of Gradient Climbing Technique Using Cluster Space Control of Multi-Robot Systems. (Masters Thesis). Santa Clara University. Retrieved from https://scholarcommons.scu.edu/mech_mstr/31

Chicago Manual of Style (16^th Edition):

Howard, Vincent Michael. “A Study of Gradient Climbing Technique Using Cluster Space Control of Multi-Robot Systems.” 2011. Masters Thesis, Santa Clara University. Accessed February 28, 2021. https://scholarcommons.scu.edu/mech_mstr/31.

MLA Handbook (7^th Edition):

Howard, Vincent Michael. “A Study of Gradient Climbing Technique Using Cluster Space Control of Multi-Robot Systems.” 2011. Web. 28 Feb 2021.

Vancouver:

Howard VM. A Study of Gradient Climbing Technique Using Cluster Space Control of Multi-Robot Systems. [Internet] [Masters thesis]. Santa Clara University; 2011. [cited 2021 Feb 28]. Available from: https://scholarcommons.scu.edu/mech_mstr/31.

Council of Science Editors:

Howard VM. A Study of Gradient Climbing Technique Using Cluster Space Control of Multi-Robot Systems. [Masters Thesis]. Santa Clara University; 2011. Available from: https://scholarcommons.scu.edu/mech_mstr/31

30. Blankenburg, Janelle. Generalized Task Structure Learning for Collaborative Multi-Robot/Human-Robot Task Allocation.

Degree: 2020, University of Nevada – Reno

URL: http://hdl.handle.net/11714/7412

► The basis of this work is a control architecture for collaborative multi-robot systems focusing on the problem of task allocation under hierarchical constraints imposed upon… (more)

▼ The basis of this work is a control architecture for collaborative multi-robot systems focusing on the problem of task allocation under hierarchical constraints imposed upon a joint task. For these types of tasks, multiple robots need to dynamically coordinate their execution during the task execution. However, due to the different abilities between different robots, a single task definition is not sufficient to ensure the task can be completely without faults. In order to alleviate these concerns, we have developed a generalized task structure which is able to transfer skills of a learned task to teams of heterogeneous robots. This system uses a small number of human demonstrations to learn a hierarchical task structure on a single robot. This structure acts as a skeleton for the task which has been adapted to work on teams of heterogeneous robots through the development of a continuous-valued metric which is able to account for the robots' variable skills during the task execution. Additionally, to further emphasize the collaboration of the multi-robot team, our previous architecture is extended to include an interdependence constraint which requires explicit cooperation between agents to complete the task.Furthermore, to allow the task execution as well as the learning of the task structure to be as generalizable as possible, several efforts were made to extend the previous architecture to work with human-robot teams. First, a system was created to learn the hierarchical tasks through verbal instruction. Second, a dialogue-based fault recovery system was developed to allow for a more robust task execution. Lastly, an intent recognition system was incorporated into the architecture to allow for human-robot teams to work collaboratively on a task.Each of these extensions were validated separately through several experiments utilizing either multi-robot or human-robot teams for pick and place tasks with hierarchical constraints. The experiments included different environmental conditions in order to show the robustness of the proposed extensions to the control architecture. Combining each of these extensions together results in a generalized task structure which enables collaborative task allocation for complex, hierarchical tasks for both multi-robot and human-robot teams. Advisors/Committee Members: Feil-Seifer, David (advisor), Nicolescu, Monica (committee member), Nicolescu, Mircea (committee member), La, Hung (committee member), Panorska, Anna (committee member).

Subjects/Keywords: hierarchical task allocation; human-robot collaboration; multi-robot systems

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Blankenburg, J. (2020). Generalized Task Structure Learning for Collaborative Multi-Robot/Human-Robot Task Allocation. (Thesis). University of Nevada – Reno. Retrieved from http://hdl.handle.net/11714/7412

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Blankenburg, Janelle. “Generalized Task Structure Learning for Collaborative Multi-Robot/Human-Robot Task Allocation.” 2020. Thesis, University of Nevada – Reno. Accessed February 28, 2021. http://hdl.handle.net/11714/7412.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Blankenburg, Janelle. “Generalized Task Structure Learning for Collaborative Multi-Robot/Human-Robot Task Allocation.” 2020. Web. 28 Feb 2021.

Vancouver:

Blankenburg J. Generalized Task Structure Learning for Collaborative Multi-Robot/Human-Robot Task Allocation. [Internet] [Thesis]. University of Nevada – Reno; 2020. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/11714/7412.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Blankenburg J. Generalized Task Structure Learning for Collaborative Multi-Robot/Human-Robot Task Allocation. [Thesis]. University of Nevada – Reno; 2020. Available from: http://hdl.handle.net/11714/7412

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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