subject:(Robot Coverage)

University of Illinois – Urbana-Champaign

1. Das, Colin E. Coverage for Mobile Robots with Uncertainty.

Degree: MS, 4048, 2011, University of Illinois – Urbana-Champaign

► The classical problem of robot coverage is to plan a path that brings a point on a robot within a fixed distance of every point… (more)

▼ The classical problem of robot coverage is to plan a path that brings a point on a robot within a fixed distance of every point in the free space. This problem is solved under the assumption that a robot follows the path exactly. However, a robot with uncertainty in sensing and actuation is not guaranteed to follow the path exactly and thus is not guaranteed to cover the free space. A coverage planner, rather than producing a path, should produce a feedback policy, but it is unclear exactly what performance it is to achieve. To make the problem concrete, we formulate a ???probably approximately correct??? measure of performance that captures the probability 1 - e of covering a fraction 1 - d of the free space. We apply this measure to a simple system in which a robot is commanded to follow a square wave path in a rectangular region. We show that following a square wave path with passes parallel to the short axis performs better than following a square wave path with passes parallel to the long axis. This inspires a new strategy in which a square wave path is steered throughout the free space. We design a feedback policy where the square wave path is treated as a larger, virtual robot with coverage implement size equal to the size of the square wave. The virtual robot tracks a global path and generates a local path that the robot tracks. Coverage planning is then simplified by decoupling local and global coveragestrategies. We describe in detail the coverage planning algorithms for the robot and the virtual robot, specifically the calibration, estimation, and control processes. For the particular case of the virtual robot operating along the boundary, we introduce a method of simultaneous coverage and calibration. For robots with boundary sensors that trigger when entering or leaving the free space, like the ones we consider, we show that it is possible to estimate the robot odometric parameters based on the difference in time between boundary crossings. Through an analysis of observability, we design a sequence of switchback trajectories that produce robust parameter estimations. This algorithm is implemented both in simulation and hardware experiment. Advisors/Committee Members: Bretl, Timothy W. (advisor).

Subjects/Keywords: coverage; robotics; mobile robot; calibration; virtual robot

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APA (6^th Edition):

Das, C. E. (2011). Coverage for Mobile Robots with Uncertainty. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/24229

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):

Das, Colin E. “Coverage for Mobile Robots with Uncertainty.” 2011. Thesis, University of Illinois – Urbana-Champaign. Accessed January 22, 2021. http://hdl.handle.net/2142/24229.

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

MLA Handbook (7^th Edition):

Das, Colin E. “Coverage for Mobile Robots with Uncertainty.” 2011. Web. 22 Jan 2021.

Vancouver:

Das CE. Coverage for Mobile Robots with Uncertainty. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2011. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/2142/24229.

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

Council of Science Editors:

Das CE. Coverage for Mobile Robots with Uncertainty. [Thesis]. University of Illinois – Urbana-Champaign; 2011. Available from: http://hdl.handle.net/2142/24229

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

University of Minnesota

2. 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 January 22, 2021. http://hdl.handle.net/11299/201178.

MLA Handbook (7^th Edition):

Jensen, Elizabeth. “Online Multi-Robot Exploration with Communication Restrictions.” 2018. Web. 22 Jan 2021.

Vancouver:

Jensen E. Online Multi-Robot Exploration with Communication Restrictions. [Internet] [Doctoral dissertation]. University of Minnesota; 2018. [cited 2021 Jan 22]. 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

Delft University of Technology

3. 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 January 22, 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. 22 Jan 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 Jan 22]. 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 Tennessee – Knoxville

4. Messing, Andrew Kenneth. Circle Packing as a Space Decomposition Method for Robot Path Planning and Coverage.

Degree: MS, Computer Engineering, 2018, University of Tennessee – Knoxville

URL: https://trace.tennessee.edu/utk_gradthes/5039

► One of the most important tasks for an autonomous robot is figuring out how to move from its current position and orientation to a new… (more)

Subjects/Keywords: Robot; Path Planning; Coverage; Circle Packing

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

APA (6^th Edition):

Messing, A. K. (2018). Circle Packing as a Space Decomposition Method for Robot Path Planning and Coverage. (Thesis). University of Tennessee – Knoxville. Retrieved from https://trace.tennessee.edu/utk_gradthes/5039

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):

Messing, Andrew Kenneth. “Circle Packing as a Space Decomposition Method for Robot Path Planning and Coverage.” 2018. Thesis, University of Tennessee – Knoxville. Accessed January 22, 2021. https://trace.tennessee.edu/utk_gradthes/5039.

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

MLA Handbook (7^th Edition):

Messing, Andrew Kenneth. “Circle Packing as a Space Decomposition Method for Robot Path Planning and Coverage.” 2018. Web. 22 Jan 2021.

Vancouver:

Messing AK. Circle Packing as a Space Decomposition Method for Robot Path Planning and Coverage. [Internet] [Thesis]. University of Tennessee – Knoxville; 2018. [cited 2021 Jan 22]. Available from: https://trace.tennessee.edu/utk_gradthes/5039.

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

Council of Science Editors:

Messing AK. Circle Packing as a Space Decomposition Method for Robot Path Planning and Coverage. [Thesis]. University of Tennessee – Knoxville; 2018. Available from: https://trace.tennessee.edu/utk_gradthes/5039

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

University of New South Wales

5. 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 January 22, 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. 22 Jan 2021.

Vancouver:

Ahmad W. Distributed navigation of multi-robot systems for sensing coverage. [Internet] [Doctoral dissertation]. University of New South Wales; 2017. [cited 2021 Jan 22]. 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

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

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 January 22, 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. 22 Jan 2021.

Vancouver:

D'Urso GS. Multi-Robot Refill Scheduling with Queueing for Resource Constrained Coverage . [Internet] [Thesis]. University of Sydney; 2018. [cited 2021 Jan 22]. 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

Rice University

7. Lee, Seoung Kyou. Distributed Space Coverage for Exploration, Localization, and Navigation in Unknown Environments.

Degree: PhD, Engineering, 2015, Rice University

URL: http://hdl.handle.net/1911/87809

► Many tasks, such as search and rescue, exploration and mapping, security and surveil- lance are suited for mobile robots. These tasks require the population to… (more)

▼ Many tasks, such as search and rescue, exploration and mapping, security and surveil- lance are suited for mobile robots. These tasks require the population to spread out over a large environment, where the sensing and communicating capacity of an individual robot might be too small to cover the entire environment. This thesis presents approaches for cooperative coverage tasks by large populations of robots to overcome the limitation of a single robot. Not only can a multi-robot system accomplish the coverage task far more efficiently than an individual robot, but also it is more reliable against individual hardware failure. This thesis investigates two different scenarios with respect to distributed multi-robot space coverage in an unknown environment: First, I consider the space coverage in un- bounded environments. This scenario takes care of robots searching or monitoring in an unlimited region, such as a forest or submarine sea floor. For efficient scanning, robots need to spread out sufficiently to cover a large area. At the same time, they have to be close to their neighbors to prevent network disconnection. In order to fulfill both requirements simultaneously, I present a cohesive configuration controller by combining existing flock- ing strategies with a boundary force algorithm and network sensing and mode switching method. By doing so, robots form a convex and cohesive configuration without any dis- connection. Moreover, they maintain this final configuration even while moving. Secondly, I study space coverage problem in bounded environments that pursues to build a robotic sensor network. In this scenario, I present an algorithm to construct a triangulation using multiple low-cost robots. The resulting triangulation approximately maps the geometric characteristics of its surrounding environment and produces a physical data structure that stores triangle information distributively. This physical data structure provides auxiliary data to robots and lets them accomplish the application’s goal using only local communications. In this thesis, I address one simple application for patrolling and one complex application for topological Voronoi tessellation and center computation. This work provides theoretical guarantees about the algorithm performance. I also provide numerous simulation and hardware experiment results using the model of low- cost platforms to validate the feasibility of presented methods. In both scenarios, robots successfully form desired configurations without the aid of centralized infrastructures. In addition, the group of robots maintains the connectivity while running the algorithms. Advisors/Committee Members: McLurkin, James D. (advisor), Kavraki, Lydia (committee member), Hicks, Illya (committee member), Fekete, Sándor (committee member).

Subjects/Keywords: Multi-Robot System; Coverage Control; Swarm Intelligence; Distributed Algorithm; Computational Geometry

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

APA (6^th Edition):

Lee, S. K. (2015). Distributed Space Coverage for Exploration, Localization, and Navigation in Unknown Environments. (Doctoral Dissertation). Rice University. Retrieved from http://hdl.handle.net/1911/87809

Chicago Manual of Style (16^th Edition):

Lee, Seoung Kyou. “Distributed Space Coverage for Exploration, Localization, and Navigation in Unknown Environments.” 2015. Doctoral Dissertation, Rice University. Accessed January 22, 2021. http://hdl.handle.net/1911/87809.

MLA Handbook (7^th Edition):

Lee, Seoung Kyou. “Distributed Space Coverage for Exploration, Localization, and Navigation in Unknown Environments.” 2015. Web. 22 Jan 2021.

Vancouver:

Lee SK. Distributed Space Coverage for Exploration, Localization, and Navigation in Unknown Environments. [Internet] [Doctoral dissertation]. Rice University; 2015. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/1911/87809.

Council of Science Editors:

Lee SK. Distributed Space Coverage for Exploration, Localization, and Navigation in Unknown Environments. [Doctoral Dissertation]. Rice University; 2015. Available from: http://hdl.handle.net/1911/87809

University of Minnesota

8. Min, Hyeun Jeong. Multi-robot formation and cooperation using visual tracking.

Degree: PhD, Computer Science, 2013, University of Minnesota

URL: http://purl.umn.edu/147094

► Camera-based multi-robot formation is a core and challenging field of research in distributed robotics. The goal is to manage multiple robots maintaining them in a… (more)

▼ Camera-based multi-robot formation is a core and challenging field of research in distributed robotics. The goal is to manage multiple robots maintaining them in a group, capable of extending for various robotic missions. There has been a substantial body of work mostly based on the following assumptions: (i) The availability of inter-communication capability among the robots, (ii) the use of special sensors such as omni-directional cameras, laser scanners, etc., and (iii) the use of special (or fiduciary) markers on some objects of interest (e.g. the leader robot). Those who have pursued successful multi-robot formations have always used at least one of these assumptions. However, these assumptions limit the scope of applicability of the solutions that depend on them. These systems have the following representative limitations: (i) The size of robots should be large enough to be able to handle the large payload of the special sensors, (ii) the use of inter-communication requires that communication systems be either already installed or carried by robots, and (iii) robots are expected to have predictable motions. Many researchers have tried to address the vision-based formation problem using some or all of these assumptions, but none has attempted to go beyond these assumptions yet. In this thesis we approach the problem described above using a monocular camera to address the size limitation. This, in turn, allows us to use much smaller robots than in previous research. We also allow unpredictable motions of the robots, so that our solution can have broader applicability to several missions, such as, search, safety, surveillance, exploration, etc. In addition, because we impose fewer restrictions in the assumptions than in prior work, we are faced with various challenging issues when investigating object tracking and robot control. We present a new robotic formation methodology along with a unique technique for a group of robots based on visual tracking only. Instead of relying on prediction models about a target robot, our robots execute target tracking from consecutive images. For real-time processing, we propose a new object tracking method, limiting the pool of candidates and enhancing the matching performance. Our new multi-robot formation technique has great potential for many robotic applications. Accordingly, this technique motivates us to come up with a new solution to the multi-robot coverage problem. Specifically we deal with the challenging problem of determining the optimum set of robots and their optimized paths, given a set of locations of interest. In contrast, existing approaches to the coverage problem deal with a given set of robots and attempt to find optimized paths. Therefore, in this thesis, we have come up with a new approach, which addresses the coverage problem for a variety of real world applications.

Subjects/Keywords: Coverage problem; Distributed robotics; Multi-robot formation; Visual tracking

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APA (6^th Edition):

Min, H. J. (2013). Multi-robot formation and cooperation using visual tracking. (Doctoral Dissertation). University of Minnesota. Retrieved from http://purl.umn.edu/147094

Chicago Manual of Style (16^th Edition):

Min, Hyeun Jeong. “Multi-robot formation and cooperation using visual tracking.” 2013. Doctoral Dissertation, University of Minnesota. Accessed January 22, 2021. http://purl.umn.edu/147094.

MLA Handbook (7^th Edition):

Min, Hyeun Jeong. “Multi-robot formation and cooperation using visual tracking.” 2013. Web. 22 Jan 2021.

Vancouver:

Min HJ. Multi-robot formation and cooperation using visual tracking. [Internet] [Doctoral dissertation]. University of Minnesota; 2013. [cited 2021 Jan 22]. Available from: http://purl.umn.edu/147094.

Council of Science Editors:

Min HJ. Multi-robot formation and cooperation using visual tracking. [Doctoral Dissertation]. University of Minnesota; 2013. Available from: http://purl.umn.edu/147094

King Abdullah University of Science and Technology

9. Alghamdi, Anwaar. A Game-theoretic Implementation of the Aerial Coverage Problem.

Degree: 2020, King Abdullah University of Science and Technology

URL: http://hdl.handle.net/10754/664912

► Game theory can work as a coordination mechanism in multi-agent robotic systems by representing each robot as a player in a game. In ideal scenarios,… (more)

Subjects/Keywords: Game Theory; multi-robot coordination; coverage problem; sensor networks

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APA (6^th Edition):

Alghamdi, A. (2020). A Game-theoretic Implementation of the Aerial Coverage Problem. (Thesis). King Abdullah University of Science and Technology. Retrieved from http://hdl.handle.net/10754/664912

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):

Alghamdi, Anwaar. “A Game-theoretic Implementation of the Aerial Coverage Problem.” 2020. Thesis, King Abdullah University of Science and Technology. Accessed January 22, 2021. http://hdl.handle.net/10754/664912.

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

MLA Handbook (7^th Edition):

Alghamdi, Anwaar. “A Game-theoretic Implementation of the Aerial Coverage Problem.” 2020. Web. 22 Jan 2021.

Vancouver:

Alghamdi A. A Game-theoretic Implementation of the Aerial Coverage Problem. [Internet] [Thesis]. King Abdullah University of Science and Technology; 2020. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/10754/664912.

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

Council of Science Editors:

Alghamdi A. A Game-theoretic Implementation of the Aerial Coverage Problem. [Thesis]. King Abdullah University of Science and Technology; 2020. Available from: http://hdl.handle.net/10754/664912

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

Georgia Tech

10. Diaz-Mercado, Yancy J. Interactions in multi-robot systems.

Degree: PhD, Electrical and Computer Engineering, 2016, Georgia Tech

URL: http://hdl.handle.net/1853/55020

► The objective of this research is to develop a framework for multi-robot coordination and control with emphasis on human-swarm and inter-agent interactions. We focus on… (more)

Subjects/Keywords: Multi-robot control; Human-swarm interactions; Coverage control; Coverage of time-varying density functions; Braids; Multi-robot mixing; Inter-robot interactions; Mixing limit; Symbolic motion planning

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APA (6^th Edition):

Diaz-Mercado, Y. J. (2016). Interactions in multi-robot systems. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/55020

Chicago Manual of Style (16^th Edition):

Diaz-Mercado, Yancy J. “Interactions in multi-robot systems.” 2016. Doctoral Dissertation, Georgia Tech. Accessed January 22, 2021. http://hdl.handle.net/1853/55020.

MLA Handbook (7^th Edition):

Diaz-Mercado, Yancy J. “Interactions in multi-robot systems.” 2016. Web. 22 Jan 2021.

Vancouver:

Diaz-Mercado YJ. Interactions in multi-robot systems. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/1853/55020.

Council of Science Editors:

Diaz-Mercado YJ. Interactions in multi-robot systems. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/55020

University of Waterloo

11. Sadeghi Yengejeh, Armin. Multi-robot Coverage and Redeployment Algorithms.

Degree: 2020, University of Waterloo

URL: http://hdl.handle.net/10012/16370

► In this thesis, we focus on two classes of multi-robot task allocation and deployment problems motivated by applications in ride-sourcing transportation networks and service robots:… (more)

▼ In this thesis, we focus on two classes of multi-robot task allocation and deployment problems motivated by applications in ride-sourcing transportation networks and service robots: 1) coverage control with multiple robots, and 2) robots servicing tasks arriving sequentially over time. The first problem considers the deployment of multiple robots to cover a domain. The multi-robot problem consists of multiple robots with sensors on-board observing the spatially distributed events in an environment. The objective is to maximize the sensing quality of the events via optimally distributing the robots in the environment. This problem has been studied extensively in the literature and several algorithms have been proposed for different variants of this problem. However, there has been a lack of theoretical results on the quality of the solutions provided by these algorithms. In this thesis, we provide a new distributed multi-robot coverage algorithm with theoretical guarantees on the solution quality, run-time complexity, and communication complexity. The theoretical bound on the solution quality holds for on-board sensors where the sensing quality of the sensors is a sub-additive function of the distance to the event location in convex and non-convex environments. A natural extension of the multi-robot coverage control problem is considered in this thesis where each robot is equipped with a set of different sensors and observes different event types in the environment. Servicing a task in this problem corresponds to sensing an event occurring at a particular location and does not involve visiting the task location. Each event type has a different distribution over the domain. The robots are heterogeneous in that each robot is capable of sensing a subset of the event types. The objective is to deploy the robots into the domain to maximize the total coverage of the multiple event types. We propose a new formulation for the heterogeneous coverage problem. We provide a simple distributed algorithm to maximize the coverage. Then, we extend the result to the case where the event distribution is unknown before the deployment and provide a distributed algorithm and prove the convergence of the approach to a locally optimal solution. The third problem considers the deployment of a set of autonomous robots to efficiently service tasks that arrive sequentially in an environment over time. Each task is serviced when a robot visits the corresponding task location. Robots can then redeploy while waiting for the next task to arrive. The objective is to redeploy the robots taking into account the next N task arrivals. We seek to minimize a linear combination of the expected cost to service tasks and the redeployment cost between task arrivals. In the single robot case, we propose a one-stage greedy algorithm and prove its optimality. For multiple robots, the problem is NP-hard, and we propose two constant-factor approximation algorithms, one for the problem with a horizon of two task arrivals and the other for the infinite…

Subjects/Keywords: distributed control; multi-robot coverage control; mobility-on-demand systems; ride-sharing systems

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APA (6^th Edition):

Sadeghi Yengejeh, A. (2020). Multi-robot Coverage and Redeployment Algorithms. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/16370

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):

Sadeghi Yengejeh, Armin. “Multi-robot Coverage and Redeployment Algorithms.” 2020. Thesis, University of Waterloo. Accessed January 22, 2021. http://hdl.handle.net/10012/16370.

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

MLA Handbook (7^th Edition):

Sadeghi Yengejeh, Armin. “Multi-robot Coverage and Redeployment Algorithms.” 2020. Web. 22 Jan 2021.

Vancouver:

Sadeghi Yengejeh A. Multi-robot Coverage and Redeployment Algorithms. [Internet] [Thesis]. University of Waterloo; 2020. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/10012/16370.

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

Council of Science Editors:

Sadeghi Yengejeh A. Multi-robot Coverage and Redeployment Algorithms. [Thesis]. University of Waterloo; 2020. Available from: http://hdl.handle.net/10012/16370

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

12. Bradner, Kevin M. Path Planning for Variable Scrutiny Multi-Robot Coverage.

Degree: MSs, EECS - Computer and Information Sciences, 2020, Case Western Reserve University School of Graduate Studies

URL: http://rave.ohiolink.edu/etdc/view?acc_num=case1578915876868832

► Robotic coverage problems task one or more robots with the goal of visiting every location in a region. Algorithms that can perform this kind of… (more)

Subjects/Keywords: Computer Science; Robotics, Robotic Coverage, Path Planning, Spanning Trees, Multi-Robot Algorithms

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APA (6^th Edition):

Bradner, K. M. (2020). Path Planning for Variable Scrutiny Multi-Robot Coverage. (Masters Thesis). Case Western Reserve University School of Graduate Studies. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=case1578915876868832

Chicago Manual of Style (16^th Edition):

Bradner, Kevin M. “Path Planning for Variable Scrutiny Multi-Robot Coverage.” 2020. Masters Thesis, Case Western Reserve University School of Graduate Studies. Accessed January 22, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1578915876868832.

MLA Handbook (7^th Edition):

Bradner, Kevin M. “Path Planning for Variable Scrutiny Multi-Robot Coverage.” 2020. Web. 22 Jan 2021.

Vancouver:

Bradner KM. Path Planning for Variable Scrutiny Multi-Robot Coverage. [Internet] [Masters thesis]. Case Western Reserve University School of Graduate Studies; 2020. [cited 2021 Jan 22]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1578915876868832.

Council of Science Editors:

Bradner KM. Path Planning for Variable Scrutiny Multi-Robot Coverage. [Masters Thesis]. Case Western Reserve University School of Graduate Studies; 2020. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1578915876868832

13. Pham, Huy X. Design Distributed Control and Learning Algorithms for a Team of UAVs for Optimal Field Coverage.

Degree: 2018, University of Nevada – Reno

URL: http://hdl.handle.net/11714/4886

► Optimal field coverage problem refers to an active research branch that studies how we can use a finite set of sensors, such as camera, to… (more)

▼ Optimal field coverage problem refers to an active research branch that studies how we can use a finite set of sensors, such as camera, to optimally cover a field with arbitrary shape that can either be static or dynamically change over time. The problem arises in a wide range of applications, notably wildfires and oil spill tracking, military surveillance, and agriculture monitoring. In these applications, it is of growing interest to send a team of Unmanned Aerial Vehicles (UAVs) acting as a mobile sensor network, as they can provide sensing information with low costs and high flexibility, compared with traditional static monitoring methods. In this thesis, we addressed the problem by two distinct approaches: one is model-based and the other is model-free. In the first part, we proposed a model-based control framework for UAV teaming to monitor and track a dynamic field like wildfire spreading. Wildfire is well-known for their destructive ability to inflict massive damage and disruption. We characterized the optimal sensing coverage problem to work with a changing wildfire environment. We proposed a decentralized control algorithm for a team of UAVs that can autonomously and actively track the fire spreading boundary in a distributed manner. The UAV team can also effectively provide full coverage of the field and avoid in-flight collisions. Moreover, based on the proposed algorithm, some of the UAVs can automatically adjust their altitude to increase the image resolution of the border of the wildfire, while the whole team tries to maintain a complete view of it. In the second part, we utilized a model-free learning algorithm to solve a problem of optimal coverage for a static field of arbitrary shape. The objective of the UAV team is not only to fully cover the field of interest, but also to minimize overlapping among field of views of the UAVs to increase image resolution and the efficiency of the team. Because the shape of the field is unknown, traditional approaches that rely on an accurate mathematical model of the field may fail. It is thus promising to address the problem with a model-free approach. We proposed a model-free Multi-Agent Reinforcement Learning (MARL) algorithm that combines Correlated Equilibrium strategy in Game Theory and Function approximation techniques to effectively overcome challenges in MARL such as the complex dynamics of the system and the curse of dimensionality. From studying the two distinct approaches, we will draw some insights in solving optimal field coverage problems regarding each approach. Advisors/Committee Members: La, Hung M. (advisor), Feil-Seifer, David (committee member), Xu, Hao (committee member).

Subjects/Keywords: Distributed control; Multi-Agent Reinforcement Learning; Multi-Robot Systems; Optimal field coverage; UAV

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APA (6^th Edition):

Pham, H. X. (2018). Design Distributed Control and Learning Algorithms for a Team of UAVs for Optimal Field Coverage. (Thesis). University of Nevada – Reno. Retrieved from http://hdl.handle.net/11714/4886

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):

Pham, Huy X. “Design Distributed Control and Learning Algorithms for a Team of UAVs for Optimal Field Coverage.” 2018. Thesis, University of Nevada – Reno. Accessed January 22, 2021. http://hdl.handle.net/11714/4886.

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

MLA Handbook (7^th Edition):

Pham, Huy X. “Design Distributed Control and Learning Algorithms for a Team of UAVs for Optimal Field Coverage.” 2018. Web. 22 Jan 2021.

Vancouver:

Pham HX. Design Distributed Control and Learning Algorithms for a Team of UAVs for Optimal Field Coverage. [Internet] [Thesis]. University of Nevada – Reno; 2018. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/11714/4886.

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

Council of Science Editors:

Pham HX. Design Distributed Control and Learning Algorithms for a Team of UAVs for Optimal Field Coverage. [Thesis]. University of Nevada – Reno; 2018. Available from: http://hdl.handle.net/11714/4886

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

14. Kapoutsis, Athanasios. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.

Degree: 2017, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ)

URL: http://hdl.handle.net/10442/hedi/42416

► In this thesis we deal with the problem of navigating a team of robots in both known and unknown environments, so as the mission's objectives… (more)

▼ In this thesis we deal with the problem of navigating a team of robots in both known and unknown environments, so as the mission's objectives to be fulfilled. The structure of this thesis is divided into two main pillars. In the first pillar we deal with the problem of determining an optimal path involving all points of a given area of interest (offline), while avoiding sub-areas with specific characteristics (e.g. obstacles, no-fly zones, etc.). This problem, which is usually referred as multi-robot coverage path planning (mCPP), has been proven to be NP-hard. Currently, existing approaches produce polynomial algorithms that are able to only approximate the minimum covering time. In chapter 3, a novel methodology is proposed, capable of producing such optimal paths in approximately polynomial time. In the heart of the proposed approach lies the DARP algorithm, which divides the terrain into a number of equal areas each corresponding to a specific robot, in such a way to guarantee: complete coverage, non-backtracking solution, minimum coverage path, while at the same time does not need any preparatory stage. In the second pillar of this thesis, we design algorithms capable of navigating team of robots without any prior knowledge. More specifically, we deal with problems where the objectives of the multi-robot system can be transformed to the optimization of a specifically defined cost-function. Due to the unknown environment, unknown robots' dynamics, sensor nonlinearities, etc., the analytic form of the cost-function is not available a priori. Therefore, standard gradient descent-like algorithms are not applicable to these problems. In chapter 4, we first show that optimal one-step-ahead exploration schemes that are based on a transformed optimization criterion can lead to highly efficient solutions to the multi-robot exploration. As, however, optimal one-step-ahead solutions to the transformed optimization criterion cannot be practically obtained using conventional optimization schemes, the second step in our approach is to combine the use of the transformed optimization criterion with the Cognitive Adaptive Optimization (CAO): CAO is a practicably feasible computational methodology which adaptively provides an accurate approximation of the optimal one-step-ahead solutions. This combination results in a multi-robot exploration scheme which is both practically implementable and provides with quite efficient solutions as it is shown both by theoretical analysis and, most importantly, by extensive simulation experiments and real-life underwater sea-floor mapping experiments in the Leixoes port, Portugal. Finally, in chapter 5, we propose a distributed algorithm applicable to a quite large class of practical multi-robot applications. In such multi-robot applications, the user-defined objectives of the mission can be casted as a general optimization problem, without explicit guidelines of the sub-tasks per different robot. A novel distributed methodology is proposed, based on the CAO algorithm (as proposed on the…

Subjects/Keywords: Αυτόνομη πλοήγηση; Ομάδες ρομπότ; Βελτιστοποίηση συνάρτησης κόστους; Κάλυψη περιοχών; Χαρτογράφηση; Προσαρμοστικά συστήματα; Ελάχιστα μονοπάτια κάλυψης; Θαλάσσια ρομποτικά συστήματα; Autonomous navigation; Multi-robot teams; Cost function optimization; Multi-robot coverage; Multi-robot mapping; Learning and adaptive system; Minimum coverage paths; Marine robotics

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APA (6^th Edition):

Kapoutsis, A. (2017). Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. (Thesis). Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Retrieved from http://hdl.handle.net/10442/hedi/42416

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

Chicago Manual of Style (16^th Edition):

Kapoutsis, Athanasios. “Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.” 2017. Thesis, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Accessed January 22, 2021. http://hdl.handle.net/10442/hedi/42416.

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

MLA Handbook (7^th Edition):

Kapoutsis, Athanasios. “Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.” 2017. Web. 22 Jan 2021.

Vancouver:

Kapoutsis A. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. [Internet] [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2017. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/10442/hedi/42416.

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

Council of Science Editors:

Kapoutsis A. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2017. Available from: http://hdl.handle.net/10442/hedi/42416

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

Texas A&M University

15. Kim, Chang Young. Robotic Searching for Stationary, Unknown and Transient Radio Sources.

Degree: PhD, Computer Engineering, 2012, Texas A&M University

URL: http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11014

► Searching for objects in physical space is one of the most important tasks for humans. Mobile sensor networks can be great tools for the task.… (more)

Subjects/Keywords: radio localization; unknown sensor network; robot motion planning; Searching time; coverage; intermittent signal source; mobile robots

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APA (6^th Edition):

Kim, C. Y. (2012). Robotic Searching for Stationary, Unknown and Transient Radio Sources. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11014

Chicago Manual of Style (16^th Edition):

Kim, Chang Young. “Robotic Searching for Stationary, Unknown and Transient Radio Sources.” 2012. Doctoral Dissertation, Texas A&M University. Accessed January 22, 2021. http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11014.

MLA Handbook (7^th Edition):

Kim, Chang Young. “Robotic Searching for Stationary, Unknown and Transient Radio Sources.” 2012. Web. 22 Jan 2021.

Vancouver:

Kim CY. Robotic Searching for Stationary, Unknown and Transient Radio Sources. [Internet] [Doctoral dissertation]. Texas A&M University; 2012. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11014.

Council of Science Editors:

Kim CY. Robotic Searching for Stationary, Unknown and Transient Radio Sources. [Doctoral Dissertation]. Texas A&M University; 2012. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11014

16. Lu, Yimeng. A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles.

Degree: 2018, King Abdullah University of Science and Technology

URL: http://hdl.handle.net/10754/627955

► This thesis explores a game-theoretical approach for underwater environmental monitoring applications. We first apply game-theoretical algorithm to multi-agent resource coverage problem in drifting environments. Furthermore,… (more)

Subjects/Keywords: Robotics; Game Theory; marine robot; sensor coverage

…69 70 70 71 10 LIST OF FIGURES 3.1 3.2 3.3 24 27 3.5 3.6 A model of sensor coverage… …smartly to guarantee persistent coverage [4, 5]. From the specifications above, our… …of persistent sensor coverage, we recommend to deploy sensors on multiple agents… …coverage performance while each agent is actually locally controlled. As the resource heatmap… …planning their motion. Many works deal with optimal sensor coverage problem [6] as a…

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APA (6^th Edition):

Lu, Y. (2018). A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles. (Thesis). King Abdullah University of Science and Technology. Retrieved from http://hdl.handle.net/10754/627955

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):

Lu, Yimeng. “A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles.” 2018. Thesis, King Abdullah University of Science and Technology. Accessed January 22, 2021. http://hdl.handle.net/10754/627955.

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

MLA Handbook (7^th Edition):

Lu, Yimeng. “A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles.” 2018. Web. 22 Jan 2021.

Vancouver:

Lu Y. A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles. [Internet] [Thesis]. King Abdullah University of Science and Technology; 2018. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/10754/627955.

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

Council of Science Editors:

Lu Y. A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles. [Thesis]. King Abdullah University of Science and Technology; 2018. Available from: http://hdl.handle.net/10754/627955

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

17. Li, Haotian. Market-Based Sensor Relocation by a Team of Robots in Wireless Sensor Networks .

Degree: 2014, University of Ottawa

URL: http://hdl.handle.net/10393/30707

► Randomly scattered sensors may cause sensing holes and redundant sensors. In carrier-based sensor relocation, mobile robots (with limited capacity to carry sensors) pick up additional… (more)

Subjects/Keywords: Bidding; Sensor relocation; Coverage repair; Mobile robot

…reduce the cost of coverage repair, some solutions use robot with certain load capacity to… …robot to fill coverage holes. Several centralized approaches [9, 24, 25] introduce a… …detects whether there is a sensing hole. When robot encounters coverage hole, it deploys a… …deployed sensors are redundant for coverage and can be reused for robot to fill coverage holes… …some cases, already deployed sensors can be reused for robot to fill coverage holes. One…

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APA (6^th Edition):

Li, H. (2014). Market-Based Sensor Relocation by a Team of Robots in Wireless Sensor Networks . (Thesis). University of Ottawa. Retrieved from http://hdl.handle.net/10393/30707

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):

Li, Haotian. “Market-Based Sensor Relocation by a Team of Robots in Wireless Sensor Networks .” 2014. Thesis, University of Ottawa. Accessed January 22, 2021. http://hdl.handle.net/10393/30707.

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

MLA Handbook (7^th Edition):

Li, Haotian. “Market-Based Sensor Relocation by a Team of Robots in Wireless Sensor Networks .” 2014. Web. 22 Jan 2021.

Vancouver:

Li H. Market-Based Sensor Relocation by a Team of Robots in Wireless Sensor Networks . [Internet] [Thesis]. University of Ottawa; 2014. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/10393/30707.

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

Council of Science Editors:

Li H. Market-Based Sensor Relocation by a Team of Robots in Wireless Sensor Networks . [Thesis]. University of Ottawa; 2014. Available from: http://hdl.handle.net/10393/30707

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

18. MUDDU, RAJA SANKAR DILEEP. A Frontier Based Multi-Robot Approach for Coverage of Unknown Environments.

Degree: MS, Computer Science, 2015, University of Windsor

URL: https://scholar.uwindsor.ca/etd/5490

► With the advent of latest technical advancements in the field of robotics, a stage has arrived where autonomous robots are expected to help humans… (more)

Subjects/Keywords: coverage; frontier; multi robot; ROS; stage; unknown

…18 Multi-Robot Coverage . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.4.1… …viii 4 Frontier Based Multi-Robot Coverage 38 4.1 Highlights of proposed approach… …4.3.1 Multi-Robot unknown environment coverage. . . . . . . . . . . . . . . 41 4.3.2 Graph… …the robot hardware Having the above requirements satisfied, multi robot coverage can be… …multi robot frontier based approach for coverage of unknown environments. Recent approaches…

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APA (6^th Edition):

MUDDU, R. S. D. (2015). A Frontier Based Multi-Robot Approach for Coverage of Unknown Environments. (Masters Thesis). University of Windsor. Retrieved from https://scholar.uwindsor.ca/etd/5490

Chicago Manual of Style (16^th Edition):

MUDDU, RAJA SANKAR DILEEP. “A Frontier Based Multi-Robot Approach for Coverage of Unknown Environments.” 2015. Masters Thesis, University of Windsor. Accessed January 22, 2021. https://scholar.uwindsor.ca/etd/5490.

MLA Handbook (7^th Edition):

MUDDU, RAJA SANKAR DILEEP. “A Frontier Based Multi-Robot Approach for Coverage of Unknown Environments.” 2015. Web. 22 Jan 2021.

Vancouver:

MUDDU RSD. A Frontier Based Multi-Robot Approach for Coverage of Unknown Environments. [Internet] [Masters thesis]. University of Windsor; 2015. [cited 2021 Jan 22]. Available from: https://scholar.uwindsor.ca/etd/5490.

Council of Science Editors:

MUDDU RSD. A Frontier Based Multi-Robot Approach for Coverage of Unknown Environments. [Masters Thesis]. University of Windsor; 2015. Available from: https://scholar.uwindsor.ca/etd/5490

University of Southern California

19. Poduri, Sameera. Mobility-based topology control of robot networks.

Degree: PhD, Computer Science, 2008, University of Southern California

URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/115883/rec/4109

► A fundamental problem that arises in realizing large-scale wireless networks of mobile robots is that of controlling the communication topology. This thesis makes three contributions… (more)

▼ A fundamental problem that arises in realizing large-scale wireless networks of mobile robots is that of controlling the communication topology. This thesis makes three contributions to the area of mobility-based topology control in robot networks.; First, this work proposes local, geometric conditions on robot positions that guarantee global network connectivity. When combined with distributed controllers for mobile robots, these conditions maximize sensing coverage while maintaining connectivity. The key idea is the introduction of a new construct – a Neighbor-Every-Theta (NET) graph – in which each node has at least one neighbor in every angular sector of size theta. We prove that for theta < pi, NET graphs are guaranteed to have an edge-connectivity of at least floor(2 pi/theta), even with an irregular radio communication range. The NET conditions are integrated into an artificial potential field-based controller for distributed deployment.; Second, for robots communicating over unreliable wireless links, a coalescence behavior is introduced, in which disconnected robots recover connectivity by searching for others. Our contribution is an asymptotic analysis of coalescence time which quantifies the trade-off between the cost of maintaining connectivity and that of repairing connectivity – the first such guideline for designing controllers for robot networks.; Finally, having shown how to construct and maintain robot networks with maximal coverage, we address a problem motivated by the performance of cheap, low-resolution cameras in complex outdoor environments. This variation of the sensor coverage problem is the first to address the case where the sensing performance of each robot carrying a camera depends on the local environmental conditions. We present a distributed reconfiguration algorithm for this case, and validate it using a network of real Cyclops cameras placed in environments with varying illumination and backgrounds. Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Golubchik, Leana (Committee Member), Krishnamachari, Bhaskar (Committee Member).

Subjects/Keywords: robot networks; deployment; topology control; coverage optimization

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APA (6^th Edition):

Poduri, S. (2008). Mobility-based topology control of robot networks. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/115883/rec/4109

Chicago Manual of Style (16^th Edition):

Poduri, Sameera. “Mobility-based topology control of robot networks.” 2008. Doctoral Dissertation, University of Southern California. Accessed January 22, 2021. http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/115883/rec/4109.

MLA Handbook (7^th Edition):

Poduri, Sameera. “Mobility-based topology control of robot networks.” 2008. Web. 22 Jan 2021.

Vancouver:

Poduri S. Mobility-based topology control of robot networks. [Internet] [Doctoral dissertation]. University of Southern California; 2008. [cited 2021 Jan 22]. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/115883/rec/4109.

Council of Science Editors:

Poduri S. Mobility-based topology control of robot networks. [Doctoral Dissertation]. University of Southern California; 2008. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/115883/rec/4109

20. Olsen, Mark Ryan. Power-aware hybrid-dynamical approach to coverage control in multi-robot systems.

Degree: MS, Electrical and Computer Engineering, 2018, Georgia Tech

URL: http://hdl.handle.net/1853/59940

► This thesis develops an algorithm which allows robots in a multi-robot team to optimize for battery power while performing coverage control so as to maximize… (more)

Subjects/Keywords: Power; Robotics; Multi-robot; Coverage; Controls

…well-studied multi-robot application is coverage control where a team of robots spread… …motion strategy which allows each robot in a multi-robot system to balance its coverage… …reduction in available energy, the robot nominally executes the coverage algorithm. Conversely, if… …coverage cost due to the motion of the robot, and the reduction in battery energy incurred due to… …the robot remaining stationary if the energy cost outweighs the coverage improvement. The…

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APA (6^th Edition):

Olsen, M. R. (2018). Power-aware hybrid-dynamical approach to coverage control in multi-robot systems. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/59940

Chicago Manual of Style (16^th Edition):

Olsen, Mark Ryan. “Power-aware hybrid-dynamical approach to coverage control in multi-robot systems.” 2018. Masters Thesis, Georgia Tech. Accessed January 22, 2021. http://hdl.handle.net/1853/59940.

MLA Handbook (7^th Edition):

Olsen, Mark Ryan. “Power-aware hybrid-dynamical approach to coverage control in multi-robot systems.” 2018. Web. 22 Jan 2021.

Vancouver:

Olsen MR. Power-aware hybrid-dynamical approach to coverage control in multi-robot systems. [Internet] [Masters thesis]. Georgia Tech; 2018. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/1853/59940.

Council of Science Editors:

Olsen MR. Power-aware hybrid-dynamical approach to coverage control in multi-robot systems. [Masters Thesis]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/59940

21. Dutia, Dharini. Multi-Robot Task Allocation and Scheduling with Spatio-Temporal and Energy Constraints.

Degree: MS, 2019, Worcester Polytechnic Institute

URL: etd-042819-195019 ; https://digitalcommons.wpi.edu/etd-theses/1298

► Autonomy in multi-robot systems is bounded by coordination among its agents. Coordination implies simultaneous task decomposition, task allocation, team formation, task scheduling and routing; collectively… (more)

▼ Autonomy in multi-robot systems is bounded by coordination among its agents. Coordination implies simultaneous task decomposition, task allocation, team formation, task scheduling and routing; collectively termed as task planning. In many real-world applications of multi-robot systems such as commercial cleaning, delivery systems, warehousing and inventory management: spatial & temporal constraints, variable execution time, and energy limitations need to be integrated into the planning module. Spatial constraints comprise of the location of the tasks, their reachability, and the structure of the environment; temporal constraints express task completion deadlines. There has been significant research in multi-robot task allocation involving spatio-temporal constraints. However, limited attention has been paid to combine them with team formation and non- instantaneous task execution time. We achieve team formation by including quota constraints which ensure to schedule the number of robots required to perform the task. We introduce and integrate task activation (time) windows with the team effort of multiple robots in performing tasks for a given duration. Additionally, while visiting tasks in space, energy budget affects the robots operation time. We map energy depletion as a function of time to ensure long-term operation by periodically visiting recharging stations. Research on task planning approaches which combines all these conditions is still lacking. In this thesis, we propose two variants of Team Orienteering Problem with task activation windows and limited energy budget to formulate the simultaneous task allocation and scheduling as an optimization problem. A complete mixed integer linear programming (MILP) formulation for both variants is presented in this work, implemented using Gurobi Optimizer and analyzed for scalability. This work compares the different objectives of the formulation like maximizing the number of tasks visited, minimizing the total distance travelled, and/or maximizing the reward, to suit various applications. Finally, analysis of optimal solutions discover trends in task selection based on the travel cost, task completion rewards, robot's energy level, and the time left to task inactivation. Advisors/Committee Members: Carlo Pinciroli, Advisor, Zhi Li, Committee Member, Andrew Trapp, Committee Member.

Subjects/Keywords: constrained optimization; energy limitations; linear programming; multi-robot systems; multi-robot task allocation; operations research; persistent coverage; recharging robots; routing with time windows; task scheduling

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APA (6^th Edition):

Dutia, D. (2019). Multi-Robot Task Allocation and Scheduling with Spatio-Temporal and Energy Constraints. (Thesis). Worcester Polytechnic Institute. Retrieved from etd-042819-195019 ; https://digitalcommons.wpi.edu/etd-theses/1298

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):

Dutia, Dharini. “Multi-Robot Task Allocation and Scheduling with Spatio-Temporal and Energy Constraints.” 2019. Thesis, Worcester Polytechnic Institute. Accessed January 22, 2021. etd-042819-195019 ; https://digitalcommons.wpi.edu/etd-theses/1298.

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

MLA Handbook (7^th Edition):

Dutia, Dharini. “Multi-Robot Task Allocation and Scheduling with Spatio-Temporal and Energy Constraints.” 2019. Web. 22 Jan 2021.

Vancouver:

Dutia D. Multi-Robot Task Allocation and Scheduling with Spatio-Temporal and Energy Constraints. [Internet] [Thesis]. Worcester Polytechnic Institute; 2019. [cited 2021 Jan 22]. Available from: etd-042819-195019 ; https://digitalcommons.wpi.edu/etd-theses/1298.

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

Council of Science Editors:

Dutia D. Multi-Robot Task Allocation and Scheduling with Spatio-Temporal and Energy Constraints. [Thesis]. Worcester Polytechnic Institute; 2019. Available from: etd-042819-195019 ; https://digitalcommons.wpi.edu/etd-theses/1298

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

22. Parti, Sushil. A New Frontier Based Approach for Multi-Robot Coverage in Unknown Environments.

Degree: MS, Computer Science, 2016, University of Windsor

URL: https://scholar.uwindsor.ca/etd/5758

► With the emergence of technology in our daily lives, robots are being increasingly used for coverage tasks which were earlier considered too dangerous or monotonous… (more)

Subjects/Keywords: Autonomous Robots; Frontier Based; Multi-Robot Coverage; Robot Coverage; ROS; Unknown Environments

…9 2.2.2 Localization 13 2.2.3 Path Planning 16 2.3 Multi-Robot Coverage 17 2.3.1… …Multi-Robot Coverage Strategies 23 2.5 Summary 27 ROBOT OPERATING SYSTEM (ROS)… …MULTI-ROBOT COVERAGE APPROACH 42 4.1 Background 42 4.2 Assumptions 43 4.3 Proposed… …Results 71 5.2.1 Coverage Results for Two-Robot Systems 73 5.2.2 Coverage Results for Three… …Robot Systems 80 5.2.3 Coverage Results for Two Robot System (with Distant Starting…

11 more images…

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APA (6^th Edition):

Parti, S. (2016). A New Frontier Based Approach for Multi-Robot Coverage in Unknown Environments. (Masters Thesis). University of Windsor. Retrieved from https://scholar.uwindsor.ca/etd/5758

Chicago Manual of Style (16^th Edition):

Parti, Sushil. “A New Frontier Based Approach for Multi-Robot Coverage in Unknown Environments.” 2016. Masters Thesis, University of Windsor. Accessed January 22, 2021. https://scholar.uwindsor.ca/etd/5758.

MLA Handbook (7^th Edition):

Parti, Sushil. “A New Frontier Based Approach for Multi-Robot Coverage in Unknown Environments.” 2016. Web. 22 Jan 2021.

Vancouver:

Parti S. A New Frontier Based Approach for Multi-Robot Coverage in Unknown Environments. [Internet] [Masters thesis]. University of Windsor; 2016. [cited 2021 Jan 22]. Available from: https://scholar.uwindsor.ca/etd/5758.

Council of Science Editors:

Parti S. A New Frontier Based Approach for Multi-Robot Coverage in Unknown Environments. [Masters Thesis]. University of Windsor; 2016. Available from: https://scholar.uwindsor.ca/etd/5758

23. YANG YUANRUI. OPTIMIZED EFFECTIVE COVERAGE OF MOBILE ROBOT TEAM WITH REACTIVE NAVIGATION CAPABILITY IN UNCERTAIN ENVIRONMENT.

Degree: 2020, National University of Singapore

URL: https://scholarbank.nus.edu.sg/handle/10635/171822

Subjects/Keywords: multi-robot; coverage control; non-constant model; optimization; navigation; formation

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APA (6^th Edition):

YUANRUI, Y. (2020). OPTIMIZED EFFECTIVE COVERAGE OF MOBILE ROBOT TEAM WITH REACTIVE NAVIGATION CAPABILITY IN UNCERTAIN ENVIRONMENT. (Thesis). National University of Singapore. Retrieved from https://scholarbank.nus.edu.sg/handle/10635/171822

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):

YUANRUI, YANG. “OPTIMIZED EFFECTIVE COVERAGE OF MOBILE ROBOT TEAM WITH REACTIVE NAVIGATION CAPABILITY IN UNCERTAIN ENVIRONMENT.” 2020. Thesis, National University of Singapore. Accessed January 22, 2021. https://scholarbank.nus.edu.sg/handle/10635/171822.

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

MLA Handbook (7^th Edition):

YUANRUI, YANG. “OPTIMIZED EFFECTIVE COVERAGE OF MOBILE ROBOT TEAM WITH REACTIVE NAVIGATION CAPABILITY IN UNCERTAIN ENVIRONMENT.” 2020. Web. 22 Jan 2021.

Vancouver:

YUANRUI Y. OPTIMIZED EFFECTIVE COVERAGE OF MOBILE ROBOT TEAM WITH REACTIVE NAVIGATION CAPABILITY IN UNCERTAIN ENVIRONMENT. [Internet] [Thesis]. National University of Singapore; 2020. [cited 2021 Jan 22]. Available from: https://scholarbank.nus.edu.sg/handle/10635/171822.

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

Council of Science Editors:

YUANRUI Y. OPTIMIZED EFFECTIVE COVERAGE OF MOBILE ROBOT TEAM WITH REACTIVE NAVIGATION CAPABILITY IN UNCERTAIN ENVIRONMENT. [Thesis]. National University of Singapore; 2020. Available from: https://scholarbank.nus.edu.sg/handle/10635/171822

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

University of Central Florida

24. Balakrishnan, Mohanakrishnan. Coverage Path Planning And Control For Autonomous Mobile Robots.

Degree: 2005, University of Central Florida

URL: https://stars.library.ucf.edu/etd/429

► Coverage control has many applications such as security patrolling, land mine detectors, and automatic vacuum cleaners. This Thesis presents an analytical approach for generation of… (more)

Subjects/Keywords: robot; nonholonomic; complete coverage; control; Electrical and Computer Engineering; Electrical and Electronics; Engineering

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APA (6^th Edition):

Balakrishnan, M. (2005). Coverage Path Planning And Control For Autonomous Mobile Robots. (Masters Thesis). University of Central Florida. Retrieved from https://stars.library.ucf.edu/etd/429

Chicago Manual of Style (16^th Edition):

Balakrishnan, Mohanakrishnan. “Coverage Path Planning And Control For Autonomous Mobile Robots.” 2005. Masters Thesis, University of Central Florida. Accessed January 22, 2021. https://stars.library.ucf.edu/etd/429.

MLA Handbook (7^th Edition):

Balakrishnan, Mohanakrishnan. “Coverage Path Planning And Control For Autonomous Mobile Robots.” 2005. Web. 22 Jan 2021.

Vancouver:

Balakrishnan M. Coverage Path Planning And Control For Autonomous Mobile Robots. [Internet] [Masters thesis]. University of Central Florida; 2005. [cited 2021 Jan 22]. Available from: https://stars.library.ucf.edu/etd/429.

Council of Science Editors:

Balakrishnan M. Coverage Path Planning And Control For Autonomous Mobile Robots. [Masters Thesis]. University of Central Florida; 2005. Available from: https://stars.library.ucf.edu/etd/429

University of Texas – Austin

25. -6838-2151. Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks.

Degree: MSin Engineering, Mechanical Engineering, 2019, University of Texas – Austin

URL: http://hdl.handle.net/2152/72719

► Working in hazardous environments requires routine inspections in order to meet safety standards. Dangerous quantities of nuclear contamination can exist in infinitesimally small volumes. In… (more)

Subjects/Keywords: Robotics; Radiation; Mobile robot; Spatio-temporal maps; Radiological Control Technicians; Autonomous mobile robots; RCTbot; Complete Coverage Path Planning; Nuclear contamination; Nuclear environment inspections

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APA (6^th Edition):

-6838-2151. (2019). Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/72719

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Chicago Manual of Style (16^th Edition):

-6838-2151. “Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks.” 2019. Masters Thesis, University of Texas – Austin. Accessed January 22, 2021. http://hdl.handle.net/2152/72719.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

MLA Handbook (7^th Edition):

-6838-2151. “Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks.” 2019. Web. 22 Jan 2021.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Vancouver:

-6838-2151. Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks. [Internet] [Masters thesis]. University of Texas – Austin; 2019. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/2152/72719.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Council of Science Editors:

-6838-2151. Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks. [Masters Thesis]. University of Texas – Austin; 2019. Available from: http://hdl.handle.net/2152/72719

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

University of Saskatchewan

26. Liu, Lifang. Scouting algorithms for field robots using triangular mesh maps.

Degree: 2007, University of Saskatchewan

URL: http://hdl.handle.net/10388/etd-07192007-150320

► Labor shortage has prompted researchers to develop robot platforms for agriculture field scouting tasks. Sensor-based automatic topographic mapping and scouting algorithms for rough and large… (more)

▼ Labor shortage has prompted researchers to develop robot platforms for agriculture field scouting tasks. Sensor-based automatic topographic mapping and scouting algorithms for rough and large unstructured environments were presented. It involves moving an image sensor to collect terrain and other information and concomitantly construct a terrain map in the working field. In this work, a triangular mesh map was first used to represent the rough field surface and plan exploring strategies. A 3D image sensor model was used to simulate collection of field elevation information.A two-stage exploring policy was used to plan the next best viewpoint by considering both the distance and elevation change in the cost function. A greedy exploration algorithm based on the energy cost function was developed; the energy cost function not only considers the traveling distance, but also includes energy required to change elevation and the rolling resistance of the terrain. An information-based exploration policy was developed to choose the next best viewpoint to maximise the information gain and minimize the energy consumption. In a partially known environment, the information gain was estimated by applying the ray tracing algorithm. The two-part scouting algorithm was developed to address the field sampling problem; the coverage algorithm identifies a reasonable coverage path to traverse sampling points, while the dynamic path planning algorithm determines an optimal path between two adjacent sampling points.The developed algorithms were validated in two agricultural fields and three virtual fields by simulation. Greedy exploration policy, based on energy consumption outperformed other pattern methods in energy, time, and travel distance in the first 80% of the exploration task. The exploration strategy, which incorporated the energy consumption and the information gain with a ray tracing algorithm using a coarse map, showed an advantage over other policies in terms of the total energy consumption and the path length by at least 6%. For scouting algorithms, line sweeping methods require less energy and a shorter distance than the potential function method. Advisors/Committee Members: Crowe, Trever G., Meda, Venkatesh, Laguë, Claude, Dupuis, Erick, Chen, X. B. (Daniel), Roberge, Martin.

Subjects/Keywords: triangular mesh map; automatic sampling; agricultural robot; exploration; coverage; path planning; scouting; precision agriculture; 3D map building

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APA (6^th Edition):

Liu, L. (2007). Scouting algorithms for field robots using triangular mesh maps. (Thesis). University of Saskatchewan. Retrieved from http://hdl.handle.net/10388/etd-07192007-150320

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):

Liu, Lifang. “Scouting algorithms for field robots using triangular mesh maps.” 2007. Thesis, University of Saskatchewan. Accessed January 22, 2021. http://hdl.handle.net/10388/etd-07192007-150320.

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

MLA Handbook (7^th Edition):

Liu, Lifang. “Scouting algorithms for field robots using triangular mesh maps.” 2007. Web. 22 Jan 2021.

Vancouver:

Liu L. Scouting algorithms for field robots using triangular mesh maps. [Internet] [Thesis]. University of Saskatchewan; 2007. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/10388/etd-07192007-150320.

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

Council of Science Editors:

Liu L. Scouting algorithms for field robots using triangular mesh maps. [Thesis]. University of Saskatchewan; 2007. Available from: http://hdl.handle.net/10388/etd-07192007-150320

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

Luleå University of Technology

27. Leitner, Jürgen. Multi-robot formations for area coverage in space applications.

Degree: 2009, Luleå University of Technology

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410

►

This thesis presents two algorithmic implementations of multi-robot formation control for the area coverage problem. It uses a space exploration scenario, with a marsupial… (more)

Subjects/Keywords: Technology; space robotics; multi-robot cooperation; area coverage; machine learning; simulation; formation control; Learning; Classifier Systems (LCS); Teknik

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APA (6^th Edition):

Leitner, J. (2009). Multi-robot formations for area coverage in space applications. (Thesis). Luleå University of Technology. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410

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):

Leitner, Jürgen. “Multi-robot formations for area coverage in space applications.” 2009. Thesis, Luleå University of Technology. Accessed January 22, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410.

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

MLA Handbook (7^th Edition):

Leitner, Jürgen. “Multi-robot formations for area coverage in space applications.” 2009. Web. 22 Jan 2021.

Vancouver:

Leitner J. Multi-robot formations for area coverage in space applications. [Internet] [Thesis]. Luleå University of Technology; 2009. [cited 2021 Jan 22]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410.

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

Council of Science Editors:

Leitner J. Multi-robot formations for area coverage in space applications. [Thesis]. Luleå University of Technology; 2009. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-51410

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

28. Valicka, Christopher. Multi-objective control and coordination of multi-agent systems.

Degree: PhD, 3846, 2014, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/46676

► In this dissertation, control methodologies for systems of multiple mobile agents facing multiple objectives are considered. Carefully constructed objective functions for agents interested in any… (more)

Subjects/Keywords: Multiattribute utility copula; multi-objective control; multi-agent system; multi-robot testbed; dynamic coverage control

…x5B;22, 23, 24, 25, 26, 27, 28, 29]. A multi-robot testbed in which coverage objectives… …agent i, encouraging the robot to return to the coverage domain. The global coverage objective… …robot testbed . . . . . . . . . . . . . . . . . . . . . . . . Example shared information flow… …of multi-robot testbed . . . . Motion capture software and camera setup… …Robot with markers and electronics suite . . . . . . . . . . . . Screenshot of testbed…

10 more images…

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APA (6^th Edition):

Valicka, C. (2014). Multi-objective control and coordination of multi-agent systems. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/46676

Chicago Manual of Style (16^th Edition):

Valicka, Christopher. “Multi-objective control and coordination of multi-agent systems.” 2014. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed January 22, 2021. http://hdl.handle.net/2142/46676.

MLA Handbook (7^th Edition):

Valicka, Christopher. “Multi-objective control and coordination of multi-agent systems.” 2014. Web. 22 Jan 2021.

Vancouver:

Valicka C. Multi-objective control and coordination of multi-agent systems. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2014. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/2142/46676.

Council of Science Editors:

Valicka C. Multi-objective control and coordination of multi-agent systems. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2014. Available from: http://hdl.handle.net/2142/46676

29. Mathew, Neil. Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous.

Degree: 2014, University of Waterloo

URL: http://hdl.handle.net/10012/8169

► This thesis addresses the problem of motion planning for autonomous robots, given a map and an estimate of the robot pose within it. The motion… (more)

▼ This thesis addresses the problem of motion planning for autonomous robots, given a map and an estimate of the robot pose within it. The motion planning problem for a mobile robot can be defined as computing a trajectory in an environment from one pose to another while avoiding obstacles and optimizing some objective such as path length or travel time, subject to constraints like vehicle dynamics limitations. More complex planning problems such as multi-robot planning or complete coverage of an area can also be defined within a similar optimization structure. The computational complexity of path planning presents a considerable challenge for real-time execution with limited resources and various methods of simplifying the problem formulation by discretizing the solution space are grouped under the class of discrete planning methods. The approach suggests representing the environment as a roadmap graph and formulating shortest path problems to compute optimal robot trajectories on it. This thesis presents two main contributions under the framework of discrete planning. The first contribution addresses complete coverage of an unknown environment by a single omnidirectional ground rover. The 2D occupancy grid map of the environment is first converted into a polygonal representation and decomposed into a set of convex sectors. Second, a coverage path is computed through the sectors using a hierarchical inter-sector and intra-sector optimization structure. It should be noted that both convex decomposition and optimal sector ordering are known NP-hard problems, which are solved using a greedy cut approximation algorithm and Travelling Salesman Problem (TSP) heuristics, respectively. The second contribution presents multi-robot path-planning strategies for recharging autonomous robots performing a persistent task. The work considers the case of surveillance missions performed by a team of Unmanned Aerial Vehicles (UAVs). The goal is to plan minimum cost paths for a separate team of dedicated charging robots such that they rendezvous with and recharge all the UAVs as needed. To this end, planar UAV trajectories are discretized into sets of charging locations and a partitioned directed acyclic graph subject to timing constraints is defined over them. Solutions consist of paths through the graph for each of the charging robots. The rendezvous planning problem for a single recharge cycle is formulated as a Mixed Integer Linear Program (MILP), and an algorithmic approach, using a transformation to the TSP, is presented as a scalable heuristic alternative to the MILP. The solution is then extended to longer planning horizons using both a receding horizon and an optimal fixed horizon strategy. Simulation results are presented for both contributions, which demonstrate solution quality and performance of the presented algorithms.

Subjects/Keywords: motion planning; coverage; multi-robot surveillance; autonomous mobile robots; vehicle routing; scheduling and coordination

…Path Planning The objective of coverage is to generate a path for a robot to pass a given… …presented and compared to existing coverage approaches. 1.3.2 Multi-robot Rendezvous for… …of Figures 1.1 Illustration of the coverage planning problem… …7 1.2 Illustration of the multi-robot recharging problem . . . . . . . . . . . . . . 8… …2.1 Coverage planning algorithm flowchart . . . . . . . . . . . . . . . . . . . . 14 2.2…

8 more images…

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APA (6^th Edition):

Mathew, N. (2014). Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/8169

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):

Mathew, Neil. “Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous.” 2014. Thesis, University of Waterloo. Accessed January 22, 2021. http://hdl.handle.net/10012/8169.

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

MLA Handbook (7^th Edition):

Mathew, Neil. “Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous.” 2014. Web. 22 Jan 2021.

Vancouver:

Mathew N. Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous. [Internet] [Thesis]. University of Waterloo; 2014. [cited 2021 Jan 22]. Available from: http://hdl.handle.net/10012/8169.

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

Council of Science Editors:

Mathew N. Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous. [Thesis]. University of Waterloo; 2014. Available from: http://hdl.handle.net/10012/8169

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

Arizona State University

30. Peruvemba Kumar, Ganesh. Development and Analysis of Stochastic Boundary Coverage Strategies for Multi-Robot Systems.

Degree: Computer Science, 2016, Arizona State University

URL: http://repository.asu.edu/items/38559

Subjects/Keywords: Computer science; Mechanical engineering; Mathematics; Boundary Coverage; Collective Transport; Communication Graph; Multi-Robot Systems; Stochastic Controller

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

APA (6^th Edition):

Peruvemba Kumar, G. (2016). Development and Analysis of Stochastic Boundary Coverage Strategies for Multi-Robot Systems. (Doctoral Dissertation). Arizona State University. Retrieved from http://repository.asu.edu/items/38559

Chicago Manual of Style (16^th Edition):

Peruvemba Kumar, Ganesh. “Development and Analysis of Stochastic Boundary Coverage Strategies for Multi-Robot Systems.” 2016. Doctoral Dissertation, Arizona State University. Accessed January 22, 2021. http://repository.asu.edu/items/38559.

MLA Handbook (7^th Edition):

Peruvemba Kumar, Ganesh. “Development and Analysis of Stochastic Boundary Coverage Strategies for Multi-Robot Systems.” 2016. Web. 22 Jan 2021.

Vancouver:

Peruvemba Kumar G. Development and Analysis of Stochastic Boundary Coverage Strategies for Multi-Robot Systems. [Internet] [Doctoral dissertation]. Arizona State University; 2016. [cited 2021 Jan 22]. Available from: http://repository.asu.edu/items/38559.

Council of Science Editors:

Peruvemba Kumar G. Development and Analysis of Stochastic Boundary Coverage Strategies for Multi-Robot Systems. [Doctoral Dissertation]. Arizona State University; 2016. Available from: http://repository.asu.edu/items/38559

Open Access Theses and Dissertations