subject:(multi robot coordination)

Oklahoma State University

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

Degree: Computer Science, 2020, Oklahoma State University

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

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

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APA (6^th Edition):

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

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

Chicago Manual of Style (16^th Edition):

Mahi, S M Al. “Algorithm for distributed heterogeneous robot-human teams.” 2020. Thesis, Oklahoma State University. Accessed March 05, 2021. http://hdl.handle.net/11244/325532.

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

MLA Handbook (7^th Edition):

Mahi, S M Al. “Algorithm for distributed heterogeneous robot-human teams.” 2020. Web. 05 Mar 2021.

Vancouver:

Mahi SMA. Algorithm for distributed heterogeneous robot-human teams. [Internet] [Thesis]. Oklahoma State University; 2020. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/11244/325532.

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

Council of Science Editors:

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

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

Oregon State University

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

Degree: MS, Robotics, 2015, Oregon State University

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

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

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

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APA (6^th Edition):

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

Chicago Manual of Style (16^th Edition):

Zhang, Yawei. “Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning.” 2015. Masters Thesis, Oregon State University. Accessed March 05, 2021. http://hdl.handle.net/1957/57466.

MLA Handbook (7^th Edition):

Zhang, Yawei. “Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning.” 2015. Web. 05 Mar 2021.

Vancouver:

Zhang Y. Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning. [Internet] [Masters thesis]. Oregon State University; 2015. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/1957/57466.

Council of Science Editors:

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

Victoria University of Wellington

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

Degree: 2011, Victoria University of Wellington

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

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

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

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

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APA (6^th Edition):

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

Chicago Manual of Style (16^th Edition):

Chand, Praneel. “Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots.” 2011. Doctoral Dissertation, Victoria University of Wellington. Accessed March 05, 2021. http://hdl.handle.net/10063/1828.

MLA Handbook (7^th Edition):

Chand, Praneel. “Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots.” 2011. Web. 05 Mar 2021.

Vancouver:

Chand P. Development of an Artificial Intelligence System for the Instruction and Control of Cooperating Mobile Robots. [Internet] [Doctoral dissertation]. Victoria University of Wellington; 2011. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/10063/1828.

Council of Science Editors:

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

University of Southern California

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

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

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

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

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

Subjects/Keywords: multi-robot coordination

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APA (6^th Edition):

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

Chicago Manual of Style (16^th Edition):

Su, Charles. “Coalition formation for multi-robot systems.” 2007. Masters Thesis, University of Southern California. Accessed March 05, 2021. http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536107/rec/1417.

MLA Handbook (7^th Edition):

Su, Charles. “Coalition formation for multi-robot systems.” 2007. Web. 05 Mar 2021.

Vancouver:

Su C. Coalition formation for multi-robot systems. [Internet] [Masters thesis]. University of Southern California; 2007. [cited 2021 Mar 05]. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/536107/rec/1417.

Council of Science Editors:

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

University of Illinois – Urbana-Champaign

5. McAllister, Wyatt Spalding. Multi-agent planning for coordinated robotic weed killing.

Degree: MS, Electrical & Computer Engr, 2018, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/101286

► This work presents a strategy for coordinated multi-agent weeding under conditions of partial environmental information. Our goal is to demonstrate the feasibility of coordination strategies… (more)

Subjects/Keywords: Multi-Robot Coordination; Multi-Agent Planning; Agricultural Robotics

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APA (6^th Edition):

McAllister, W. S. (2018). Multi-agent planning for coordinated robotic weed killing. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/101286

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):

McAllister, Wyatt Spalding. “Multi-agent planning for coordinated robotic weed killing.” 2018. Thesis, University of Illinois – Urbana-Champaign. Accessed March 05, 2021. http://hdl.handle.net/2142/101286.

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

MLA Handbook (7^th Edition):

McAllister, Wyatt Spalding. “Multi-agent planning for coordinated robotic weed killing.” 2018. Web. 05 Mar 2021.

Vancouver:

McAllister WS. Multi-agent planning for coordinated robotic weed killing. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2018. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/2142/101286.

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

Council of Science Editors:

McAllister WS. Multi-agent planning for coordinated robotic weed killing. [Thesis]. University of Illinois – Urbana-Champaign; 2018. Available from: http://hdl.handle.net/2142/101286

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

6. Luo, Lingzhi. Distributed Algorithm Design for Constrained Multi-robot Task Assignment.

Degree: 2014, Carnegie Mellon University

URL: http://repository.cmu.edu/dissertations/426

► The task assignment problem is one of the fundamental combinatorial optimization problems. It has been extensively studied in operation research, management science, computer science and… (more)

▼ The task assignment problem is one of the fundamental combinatorial optimization problems. It has been extensively studied in operation research, management science, computer science and robotics. Task assignment problems arise in various applications of multi-robot systems (MRS), such as environmental monitoring, disaster response, extraterrestrial exploration, sensing data collection and collaborative autonomous manufacturing. In these MRS applications, there are realistic constraints on robots and tasks that must be taken into account both from the modeling perspective and the algorithmic perspective. From the modeling aspect, such constraints include (a) Task group constraints: where tasks form disjoint groups and each robot can be assigned to at most one task in each group. One example of the group constraints comes from tightly-coupled tasks, where multiple micro tasks form one tightly-coupled macro task and need multiple robots to perform each simultaneously. (b) Task deadline constraints: where tasks must be assigned to meet their deadlines. (c) Dynamically-arising tasks: where tasks arrive dynamically and the payoffs of future tasks are unknown. Such tasks arise in scenarios like searchrescue, where new victims are found dynamically. (d) Robot budget constraints: where the number of tasks each robot can perform is bounded according to the resource it possesses (e.g., energy). From the solution aspect, there is often a need for decentralized solution that are implemented on individual robots, especially when no powerful centralized controller exists or when the system needs to avoid single-point failure or be adaptive to environmental changes. Most existing algorithms either do not consider the above constraints in problem modeling, are centralized or do not provide formal performance guarantees. In this thesis, I propose methods to address these issues for two classes of problems, namely, the constrained linear assignment problem and constrained generalized assignment problem. Constrained linear assignment problem belongs to P, while constrained generalized assignment problem is NP-hard. I develop decomposition-based distributed auction algorithms with performance guarantees for both problem classes. The multi-robot assignment problem is decomposed into an optimization problem for each robot and each robot iteratively solving its own optimization problem leads to a provably good solution to the overall problem. For constrained linear assignment problem, my approaches provides an almost optimal solution. For constrained generalized assignment problem, I present a distributed algorithm that provides a solution within a constant factor of the optimal solution. I also study the online version of the task allocation problem with task group constraints. For the online problem, I prove that a repeated greedy version of my algorithm gives solution with constant factor competitive ratio. I include simulation results to evaluate the average-case performance of the proposed algorithms. I also include results on…

Subjects/Keywords: Multi-robot Task Assignment; Task Allocation; Multi-robot Coordination; Distributed Algorithm; Online Algorithm; Competitive Analysis

8 more images…

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APA (6^th Edition):

Luo, L. (2014). Distributed Algorithm Design for Constrained Multi-robot Task Assignment. (Thesis). Carnegie Mellon University. Retrieved from http://repository.cmu.edu/dissertations/426

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):

Luo, Lingzhi. “Distributed Algorithm Design for Constrained Multi-robot Task Assignment.” 2014. Thesis, Carnegie Mellon University. Accessed March 05, 2021. http://repository.cmu.edu/dissertations/426.

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

MLA Handbook (7^th Edition):

Luo, Lingzhi. “Distributed Algorithm Design for Constrained Multi-robot Task Assignment.” 2014. Web. 05 Mar 2021.

Vancouver:

Luo L. Distributed Algorithm Design for Constrained Multi-robot Task Assignment. [Internet] [Thesis]. Carnegie Mellon University; 2014. [cited 2021 Mar 05]. Available from: http://repository.cmu.edu/dissertations/426.

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

Council of Science Editors:

Luo L. Distributed Algorithm Design for Constrained Multi-robot Task Assignment. [Thesis]. Carnegie Mellon University; 2014. Available from: http://repository.cmu.edu/dissertations/426

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

Delft University of Technology

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

Degree: 2017, Delft University of Technology

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

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

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

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APA (6^th Edition):

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

Chicago Manual of Style (16^th Edition):

Mauro, Francesco (author). “Towards the design of an effective and robust multi-robot parcel sorting system.” 2017. Masters Thesis, Delft University of Technology. Accessed March 05, 2021. http://resolver.tudelft.nl/uuid:4d891d5f-defc-42e8-9f5f-00caf23f2c4c.

MLA Handbook (7^th Edition):

Mauro, Francesco (author). “Towards the design of an effective and robust multi-robot parcel sorting system.” 2017. Web. 05 Mar 2021.

Vancouver:

Mauro F(. Towards the design of an effective and robust multi-robot parcel sorting system. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 05]. Available from: http://resolver.tudelft.nl/uuid:4d891d5f-defc-42e8-9f5f-00caf23f2c4c.

Council of Science Editors:

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

University of Southern California

8. Williams, Ryan K. Interaction and topology in distributed multi-agent coordination.

Degree: PhD, Electrical Engineering, 2014, University of Southern California

URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570

► Interconnected systems have become the recent focus of intense investigation, particularly in the context of autonomous coordination, yielding fundamental advantages in adaptability, scalability, and efficiency… (more)

▼ Interconnected systems have become the recent focus of intense investigation, particularly in the context of autonomous coordination, yielding fundamental advantages in adaptability, scalability, and efficiency compared to single‐agent solutions. In this thesis, we investigate the topological assumptions that underly distributed multi‐agent coordination, i.e., those properties defining interaction between agents in a network. We focus specifically on the properties of network connectivity and graph rigidity, which exhibit strong influence on fundamental multi‐agent behaviors, e.g., joint decision‐making, cooperative estimation, formation control, and relative localization. These bases of coordination contribute to the construction of increasingly complex multi‐agent systems, and in harnessing the underlying threads of topology, there is hope in solving the future challenges of coordination in a world of robotic ubiquity. Thus, this thesis aims to strike distributed autonomy at its core, by treating assumptions which render theoretical treatments feasible, but which leave implementation relegated to the laboratory. ❧ Motivated by a case study that illustrates the topological assumptions necessary to solve the probabilistic mapping and tracking problem, we extend the state of the art in mobility control by regulating topology through preemptive mobility, discriminating link addition and deletion to shape spatial interaction under topological constraints. Adopting realistic models of proximity‐limited coordination, local controllers are constructed with discrete switching for link discrimination, and attract‐repel potential fields which yield constraint satisfying motion. Our mobility scheme acts as a full generalization of classical swarm‐like controllers, yielding decision‐based, topology‐driven coordination. When topological constraints are non‐local, as is the case for both connectivity and rigidity, we illustrate how consensus‐based decision‐making can preserve preemption while maintaining the feasibility of topological constraints. To evaluate the specific constraint of network connectedness, we propose an inverse iteration algorithm that estimates the eigenpair associated with algebraic connectivity. Our solution is fully distributed, scalable, and it improves on the convergence rate issues of the state of the art. Finally, as a case study of heterogeneity, we introduce a hybrid architecture in which a robotic network is dynamically reconfigured to ensure high quality information flow between static nodes while preserving connectivity. In solving this problem, we propose components that couple connectivity‐preserving robot‐to‐flow allocations, with distributed communication optimizing mobility; a heuristic we call Route Swarm. ❧ The second half of the thesis focuses on the rigidity property of a multi‐agent network. We provide a decentralized algorithm that determines a spanning edge set defining the minimally rigid subcomponent of a graph. Leader election manages sequential execution, and an asynchronous… Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Krishnamachari, Bhaskar (Committee Member), Jain, Rahul (Committee Member), Ioannou, Petros (Committee Member), Sha, Fei (Committee Member).

Subjects/Keywords: distributed robot systems; dynamic networks; graph connectivity; graph rigidity; multi‐robot coordination; sensor networks

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APA (6^th Edition):

Williams, R. K. (2014). Interaction and topology in distributed multi-agent coordination. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570

Chicago Manual of Style (16^th Edition):

Williams, Ryan K. “Interaction and topology in distributed multi-agent coordination.” 2014. Doctoral Dissertation, University of Southern California. Accessed March 05, 2021. http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570.

MLA Handbook (7^th Edition):

Williams, Ryan K. “Interaction and topology in distributed multi-agent coordination.” 2014. Web. 05 Mar 2021.

Vancouver:

Williams RK. Interaction and topology in distributed multi-agent coordination. [Internet] [Doctoral dissertation]. University of Southern California; 2014. [cited 2021 Mar 05]. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570.

Council of Science Editors:

Williams RK. Interaction and topology in distributed multi-agent coordination. [Doctoral Dissertation]. University of Southern California; 2014. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/432814/rec/3570

Loughborough University

9. Razali, Sazalinsyah. Immune systems inspired multi-robot cooperative shepherding.

Degree: PhD, 2014, Loughborough University

URL: http://hdl.handle.net/2134/16361

► Certain tasks require multiple robots to cooperate in order to solve them. The main problem with multi-robot systems is that they are inherently complex and… (more)

▼ Certain tasks require multiple robots to cooperate in order to solve them. The main problem with multi-robot systems is that they are inherently complex and usually situated in a dynamic environment. Now, biological immune systems possess a natural distributed control and exhibit real-time adaptivity, properties that are required to solve problems in multi-robot systems. In this thesis, biological immune systems and their response to external elements to maintain an organism's health state are researched. The objective of this research is to propose immune-inspired approaches to cooperation, to establish an adaptive cooperation algorithm, and to determine the refinements that can be applied in relation to cooperation. Two immune-inspired models that are based on the immune network theory are proposed, namely the Immune Network T-cell-regulated – with Memory (INT-M) and the Immune Network T-cell-regulated – Cross-Reactive (INT-X) models. The INT-M model is further studied where the results have suggested that the model is feasible and suitable to be used, especially in the multi-robot cooperative shepherding domain. The Collecting task in the RoboShepherd scenario and the application of the INT-M algorithm for multi-robot cooperation are discussed. This scenario provides a highly dynamic and complex situation that has wide applicability in real-world problems. The underlying 'mechanism of cooperation' in the immune inspired model (INT-M) is verified to be adaptive in this chosen scenario. Several multi-robot cooperative shepherding factors are studied and refinements proposed, notably methods used for Shepherds' Approach, Shepherds' Formation and Steering Points' Distance. This study also recognises the importance of flock identification in relation to cooperative shepherding, and the Connected Components Labelling method to overcome the related problem is presented. Further work is suggested on the proposed INT-X model that was not implemented in this study, since it builds on top of the INT-M algorithm and its refinements. This study can also be extended to include other shepherding behaviours, further investigation of other useful features of biological immune systems, and the application of the proposed models to other cooperative tasks.

Subjects/Keywords: 006.3; Multi-robot; Immune systems; Cooperation; Coordination; Shepherding

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APA (6^th Edition):

Razali, S. (2014). Immune systems inspired multi-robot cooperative shepherding. (Doctoral Dissertation). Loughborough University. Retrieved from http://hdl.handle.net/2134/16361

Chicago Manual of Style (16^th Edition):

Razali, Sazalinsyah. “Immune systems inspired multi-robot cooperative shepherding.” 2014. Doctoral Dissertation, Loughborough University. Accessed March 05, 2021. http://hdl.handle.net/2134/16361.

MLA Handbook (7^th Edition):

Razali, Sazalinsyah. “Immune systems inspired multi-robot cooperative shepherding.” 2014. Web. 05 Mar 2021.

Vancouver:

Razali S. Immune systems inspired multi-robot cooperative shepherding. [Internet] [Doctoral dissertation]. Loughborough University; 2014. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/2134/16361.

Council of Science Editors:

Razali S. Immune systems inspired multi-robot cooperative shepherding. [Doctoral Dissertation]. Loughborough University; 2014. Available from: http://hdl.handle.net/2134/16361

Virginia Tech

10. Budhiraja, Ashish Kumar. View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams.

Degree: MS, Computer Engineering, 2017, Virginia Tech

URL: http://hdl.handle.net/10919/78807

► We study the problem of viewpoint planning in static and dynamic scenes using multi-robot teams. This work is motivated by two applications: bridge inspection and… (more)

Subjects/Keywords: Multi-Robot Coordination; Traveling Salesman Problem; Target Tracking

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APA (6^th Edition):

Budhiraja, A. K. (2017). View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/78807

Chicago Manual of Style (16^th Edition):

Budhiraja, Ashish Kumar. “View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams.” 2017. Masters Thesis, Virginia Tech. Accessed March 05, 2021. http://hdl.handle.net/10919/78807.

MLA Handbook (7^th Edition):

Budhiraja, Ashish Kumar. “View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams.” 2017. Web. 05 Mar 2021.

Vancouver:

Budhiraja AK. View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams. [Internet] [Masters thesis]. Virginia Tech; 2017. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/10919/78807.

Council of Science Editors:

Budhiraja AK. View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams. [Masters Thesis]. Virginia Tech; 2017. Available from: http://hdl.handle.net/10919/78807

University of Sydney

11. Best, Graeme. Planning Algorithms for Multi-Robot Active Perception .

Degree: 2019, University of Sydney

URL: http://hdl.handle.net/2123/19781

► A fundamental task of robotic systems is to use on-board sensors and perception algorithms to understand high-level semantic properties of an environment. These semantic properties… (more)

Subjects/Keywords: Robotics; active perception; information gathering; Planning; multi-robot systems; coordination

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APA (6^th Edition):

Best, G. (2019). Planning Algorithms for Multi-Robot Active Perception . (Thesis). University of Sydney. Retrieved from http://hdl.handle.net/2123/19781

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):

Best, Graeme. “Planning Algorithms for Multi-Robot Active Perception .” 2019. Thesis, University of Sydney. Accessed March 05, 2021. http://hdl.handle.net/2123/19781.

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

MLA Handbook (7^th Edition):

Best, Graeme. “Planning Algorithms for Multi-Robot Active Perception .” 2019. Web. 05 Mar 2021.

Vancouver:

Best G. Planning Algorithms for Multi-Robot Active Perception . [Internet] [Thesis]. University of Sydney; 2019. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/2123/19781.

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

Council of Science Editors:

Best G. Planning Algorithms for Multi-Robot Active Perception . [Thesis]. University of Sydney; 2019. Available from: http://hdl.handle.net/2123/19781

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

King Abdullah University of Science and Technology

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

Degree: Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division, 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 · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

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 March 05, 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. 05 Mar 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 Mar 05]. 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

13. Ben Saad, Seifallah. Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed.

Degree: Docteur es, STIC-Automatique, 2016, Brest

URL: http://www.theses.fr/2016BRES0052

►

Cette thèse présente l’étude d’une stratégie de coordination hybride d’un groupe de robots sous-marins pour la recherche d’objets de petites dimensions ou de singularités sur… (more)

▼

Cette thèse présente l’étude d’une stratégie de coordination hybride d’un groupe de robots sous-marins pour la recherche d’objets de petites dimensions ou de singularités sur les fonds marins. Chaque robot est équipé d’un module de perception utilisant la librairie de traitement d’image OpenCV qui lui permet d’apercevoir les autres éléments de la meute ainsi que l’environnement d’évolution de la mission.Cette stratégie hybride est constituée de deux phases : une phase de mise en formation géométrique et une phase d’acquisition des données vidéo. La première phase s’appuie sur des algorithmes de type "essaims" alors que la seconde se fonde sur une méthode hiérarchique de coordination. En cas de perte de la formation, le groupe de robots quitte le mode hiérarchique et reprend le mode essaim pour se reformer. Ces changements de modes sont contrôlés par une machine à états finis. Avant d’entamer une expérimentation en grandeur nature, la méthodologie et les algorithmes de coordination doivent être testés et validés par simulation.Dans ce contexte, un simulateur basé sur le logiciel Blender a été conçu de façon à ce qu’il tienne compte des différentes contraintes liées à l’évolution des robots dans l’environnement sous-marin. Les résultats de simulation d’une meute de 3 AUVs montrent la capacité de notre stratégie à optimiser l’exécution d’une mission d’acquisition vidéo par un groupe de robots autonomes contrôlés par la vision et coordonnés par une stratégie hybride.

In the underwater environment, the needs of data acquisition have significantly increased over the last decades. As electromagnetic waves show poor propagation in sea water, acoustical sensing is generally preferred. However, the emergence of small and low cost autonomous underwater vehicles (AUV) allow for rethinking the underwater use of optical sensors as their small coverage can be significantly improved by using a fleet of coordinated underwater robots.This paper presents a strategy to coordinate the group of robots in order to systematically survey the seabed to detect small objects or singularities. The proposed hybrid coordination strategy is defined by two main modes. The first mode relies on a swarm algorithm to organize the team in geometrical formation. In the second mode, the robot formation is maintained using a hierarchical coordination. A finite state machine controls the high level hybrid strategy by defining the appropriate coordination mode according to the evolution of the mission. Before sea validation, the behavior and the performance of the hybrid coordination strategy are first assessed in simulation. The control of individual robots relies on visual servoing, implemented with the OpenCV library, and the simulation tool is based on Blender software.The dynamics of the robots has been implemented in a realistic way in Blender by using the Bullet solver and the hydrodynamic coeficcients estimated on the actual robot. First results of the hybrid coordination strategy applied on a fleet of 3 AUV’s, show execution of a video acquisition…

Advisors/Committee Members: Dambreville, Frédéric (thesis director).

Subjects/Keywords: Coopération multi-robots; Stratégie de coordination; Contrôle de la formation; Architectures de commande; Simulateur multi-robot; Contrôle visuel; Multi-robot cooperation; Coordination; Formation control; Control architectures; Visual control simulator; 629.892

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

APA (6^th Edition):

Ben Saad, S. (2016). Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed. (Doctoral Dissertation). Brest. Retrieved from http://www.theses.fr/2016BRES0052

Chicago Manual of Style (16^th Edition):

Ben Saad, Seifallah. “Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed.” 2016. Doctoral Dissertation, Brest. Accessed March 05, 2021. http://www.theses.fr/2016BRES0052.

MLA Handbook (7^th Edition):

Ben Saad, Seifallah. “Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed.” 2016. Web. 05 Mar 2021.

Vancouver:

Ben Saad S. Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed. [Internet] [Doctoral dissertation]. Brest; 2016. [cited 2021 Mar 05]. Available from: http://www.theses.fr/2016BRES0052.

Council of Science Editors:

Ben Saad S. Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins : Design of a hybrid coordination algorithm for groups of communicating submarine robots. Application : optical acquisition systematic and detailed seabed. [Doctoral Dissertation]. Brest; 2016. Available from: http://www.theses.fr/2016BRES0052

14. Gregoire, Jean. Priority-based coordination of mobile robots : Coordination de robots mobiles par affectation de priorités.

Degree: Docteur es, Informatique temps réel, robotique et automatique, 2014, Paris, ENMP

URL: http://www.theses.fr/2014ENMP0023

►

Depuis la fin des années 1980, le développement de véhicules autonomes, capables de rouler sans l'intervention d'un être humain, est un champ de recherche très… (more)

▼

Depuis la fin des années 1980, le développement de véhicules autonomes, capables de rouler sans l'intervention d'un être humain, est un champ de recherche très actif dans la plupart des grands pays industrialisés. La diminution du nombre d'accidents, des temps de trajet plus courts, une meilleure efficacité énergétique et des besoins en infrastructure plus limités, sont autant d'effets socio-économiques espérés de leur déploiement. Des formes de coopération inter-véhicules et entre les véhicules et l'infrastructure routière sont nécessaires au fonctionnement sûr et efficace du système de transport dans sa globalité. Cette thèse s'intéresse à une forme de coopération particulière en étudiant la coordination de robots mobiles aux intersections. La majorité des systèmes de coordination existants planifie une trajectoire que les robots doivent exécuter afin d'assurer l'absence de collision. C'est une approche classique de la planification, qui est alors considérée comme un mécanisme de génération de l'action. Dans cette thèse, seules les priorités entre les véhicules sont planifiées, c'est-à-dire l'ordre relatif de passage des véhicules dans l'intersection, ce qui est bien plus faible car un grand nombre de trajectoires respectent les même priorités. Les priorités sont alors simplement utilisées comme une ressource de coordination pour guider les robots dans l'intersection. Une fois les priorités affectées, les robots suivent une loi de contrôle qui s'assure qu'elles soient bien respectées. Il en découle un système de coordination robuste, capable de gérer toute une classe d'événements imprévisibles de façon réactive, ce qui est particulièrement adapté pour une application à la coordination de véhicules autonomes aux intersections où voitures, transports en commun et piétons partagent la route.

Since the end of the 1980's, the development of self-driven autonomous vehicles is an intensive research area in most major industrial countries. Positive socio-economic potential impacts include a decrease of crashes, a reduction of travel times, energy efficiency improvements, and a reduced need of costly physical infrastructure. Some form of vehicle-to-vehicle and/or vehicle-to-infrastructure cooperation is required to ensure a safe and efficient global transportation system. This thesis deals with a particular form of cooperation by studying the problem of coordinating multiple mobile robots at an intersection area. Most of coordination systems proposed in previous work consist of planning a trajectory and to control the robots along the planned trajectory: that is the plan-as-program paradigm where planning is considered as a generative mechanism of action. The approach of the thesis is to plan priorities – the relative order of robots to go through the intersection – which is much weaker as many trajectories respect the same priorities. Then, priorities are merely used as a coordination resource to guide robots through the intersection. Once priorities are assigned, robots are controlled through a control law preserving…

Advisors/Committee Members: La Fortelle, Arnaud de (thesis director).

Subjects/Keywords: Robots mobiles; Planification de mouvement; Coordination; Systèmes multi-robot; Robustesse; Architecture hybride; Mobile robots; Motion planning; Coordination; Multi robot systems; Robustness; Three-layer architecture

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

APA (6^th Edition):

Gregoire, J. (2014). Priority-based coordination of mobile robots : Coordination de robots mobiles par affectation de priorités. (Doctoral Dissertation). Paris, ENMP. Retrieved from http://www.theses.fr/2014ENMP0023

Chicago Manual of Style (16^th Edition):

Gregoire, Jean. “Priority-based coordination of mobile robots : Coordination de robots mobiles par affectation de priorités.” 2014. Doctoral Dissertation, Paris, ENMP. Accessed March 05, 2021. http://www.theses.fr/2014ENMP0023.

MLA Handbook (7^th Edition):

Gregoire, Jean. “Priority-based coordination of mobile robots : Coordination de robots mobiles par affectation de priorités.” 2014. Web. 05 Mar 2021.

Vancouver:

Gregoire J. Priority-based coordination of mobile robots : Coordination de robots mobiles par affectation de priorités. [Internet] [Doctoral dissertation]. Paris, ENMP; 2014. [cited 2021 Mar 05]. Available from: http://www.theses.fr/2014ENMP0023.

Council of Science Editors:

Gregoire J. Priority-based coordination of mobile robots : Coordination de robots mobiles par affectation de priorités. [Doctoral Dissertation]. Paris, ENMP; 2014. Available from: http://www.theses.fr/2014ENMP0023

University of Pennsylvania

15. Tang, Sarah Yifang. Control, Planning, And Coordination For Dynamic Aerial Manipulation With Robot Teams.

Degree: 2018, University of Pennsylvania

URL: https://repository.upenn.edu/edissertations/3191

► The rapid and safe transportation of suspended payloads with aerial vehicles is a crucial task across a breadth of industries, from construction to cargo delivery… (more)

Subjects/Keywords: aerial robotics; geometric control; multi-robot coordination; optimization-based planning; slung-load; Robotics

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

APA (6^th Edition):

Tang, S. Y. (2018). Control, Planning, And Coordination For Dynamic Aerial Manipulation With Robot Teams. (Thesis). University of Pennsylvania. Retrieved from https://repository.upenn.edu/edissertations/3191

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):

Tang, Sarah Yifang. “Control, Planning, And Coordination For Dynamic Aerial Manipulation With Robot Teams.” 2018. Thesis, University of Pennsylvania. Accessed March 05, 2021. https://repository.upenn.edu/edissertations/3191.

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

MLA Handbook (7^th Edition):

Tang, Sarah Yifang. “Control, Planning, And Coordination For Dynamic Aerial Manipulation With Robot Teams.” 2018. Web. 05 Mar 2021.

Vancouver:

Tang SY. Control, Planning, And Coordination For Dynamic Aerial Manipulation With Robot Teams. [Internet] [Thesis]. University of Pennsylvania; 2018. [cited 2021 Mar 05]. Available from: https://repository.upenn.edu/edissertations/3191.

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

Council of Science Editors:

Tang SY. Control, Planning, And Coordination For Dynamic Aerial Manipulation With Robot Teams. [Thesis]. University of Pennsylvania; 2018. Available from: https://repository.upenn.edu/edissertations/3191

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

University of Oxford

16. Ward, Paul A. Coordinated search with unmanned aerial vehicle teams.

Degree: PhD, 2013, University of Oxford

URL: http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789

► Advances in mobile robot technology allow an increasing variety of applications to be imagined, including: search and rescue, exploration of unknown areas and working with… (more)

▼ Advances in mobile robot technology allow an increasing variety of applications to be imagined, including: search and rescue, exploration of unknown areas and working with hazardous materials. State of the art robots are able to behave autonomously and without direct human control, using on-board devices to perceive, navigate and reason about the world. Unmanned Aerial Vehicles (UAVs) are particularly well suited to performing advanced sensing tasks by moving rapidly through the environment irrespective of the terrain. Deploying groups of mobile robots offers advantages, such as robustness to individual failures and a reduction in task completion time. However, to operate efficiently these teams require specific approaches to enable the individual agents to cooperate. This thesis proposes coordinated approaches to search scenarios for teams of UAVs. The primary application considered is Wilderness Search and Rescue (WiSaR), although the techniques developed are applicable elsewhere. A novel frontier-based search approach is developed for rotor-craft UAVs, taking advantage of available terrain information to minimise altitude changes during flight. This is accompanied by a lightweight coordination mechanism to enable cooperative behaviour with minimal additional overhead. The concept of a team rendezvous is introduced, at which all team members attend to exchange data. This also provides an ideal opportunity to create a comprehensive team solution to relay newly gathered data to a base station. Furthermore, the delay between sensing and the acquired data becoming available to mission commanders is analysed and a technique proposed for adapting the team to meet a latency requirement. These approaches are evaluated and characterised experimentally through simulation. Coordinated frontier search is shown to outperform greedy walk methods, reducing redundant sensing coverage using only a minimal coordination protocol. Combining the search, rendezvous and relay techniques provides a holistic approach to the deployment of UAV teams, meeting mission objectives without extensive pre-configuration.

Subjects/Keywords: 629.8; Software engineering; Computing; Applications and algorithms; Robotics; unmanned aerial vehicles; robotic search; search and rescue; robot teams; multi-robot systems; multi-robot coordination

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

APA (6^th Edition):

Ward, P. A. (2013). Coordinated search with unmanned aerial vehicle teams. (Doctoral Dissertation). University of Oxford. Retrieved from http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789

Chicago Manual of Style (16^th Edition):

Ward, Paul A. “Coordinated search with unmanned aerial vehicle teams.” 2013. Doctoral Dissertation, University of Oxford. Accessed March 05, 2021. http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789.

MLA Handbook (7^th Edition):

Ward, Paul A. “Coordinated search with unmanned aerial vehicle teams.” 2013. Web. 05 Mar 2021.

Vancouver:

Ward PA. Coordinated search with unmanned aerial vehicle teams. [Internet] [Doctoral dissertation]. University of Oxford; 2013. [cited 2021 Mar 05]. Available from: http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789.

Council of Science Editors:

Ward PA. Coordinated search with unmanned aerial vehicle teams. [Doctoral Dissertation]. University of Oxford; 2013. Available from: http://ora.ox.ac.uk/objects/uuid:37407b90-51e7-4814-936c-4817ea0c711f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.627789

University of Michigan

17. Sahin, Yunus. Coordination of Multirobot Systems Under Temporal Constraints.

Degree: PhD, Electrical Engineering: Systems, 2020, University of Michigan

URL: http://hdl.handle.net/2027.42/162921

► Multirobot systems have great potential to change our lives by increasing efficiency or decreasing costs in many applications, ranging from warehouse logistics to construction. They… (more)

▼ Multirobot systems have great potential to change our lives by increasing efficiency or decreasing costs in many applications, ranging from warehouse logistics to construction. They can also replace humans in dangerous scenarios, for example in a nuclear disaster cleanup mission. However, teleoperating robots in these scenarios would severely limit their capabilities due to communication and reaction delays. Furthermore, ensuring that the overall behavior of the system is safe and correct for a large number of robots is challenging without a principled solution approach. Ideally, multirobot systems should be able to plan and execute autonomously. Moreover, these systems should be robust to certain external factors, such as failing robots and synchronization errors and be able to scale to large numbers, as the effectiveness of particular tasks might depend directly on these criteria. This thesis introduces methods to achieve safe and correct autonomous behavior for multirobot systems. Firstly, we introduce a novel logic family, called counting logics, to describe the high-level behavior of multirobot systems. Counting logics capture constraints that arise naturally in many applications where the identity of the robot is not important for the task to be completed. We further introduce a notion of robust satisfaction to analyze the effects of synchronization errors on the overall behavior and provide complexity analysis for a fragment of this logic. Secondly, we propose an optimization-based algorithm to generate a collection of robot paths to satisfy the specifications given in counting logics. We assume that the robots are perfectly synchronized and use a mixed-integer linear programming formulation to take advantage of the recent advances in this field. We show that this approach is complete under the perfect synchronization assumption. Furthermore, we propose alternative encodings that render more efficient solutions under certain conditions. We also provide numerical results that showcase the scalability of our approach, showing that it scales to hundreds of robots. Thirdly, we relax the perfect synchronization assumption and show how to generate paths that are robust to bounded synchronization errors, without requiring run-time communication. However, the complexity of such an approach is shown to depend on the error bound, which might be limiting. To overcome this issue, we propose a hierarchical method whose complexity does not depend on this bound. We show that, under mild conditions, solutions generated by the hierarchical method can be executed safely, even if such a bound is not known. Finally, we propose a distributed algorithm to execute multirobot paths while avoiding collisions and deadlocks that might occur due to synchronization errors. We recast this problem as a conflict resolution problem and characterize conditions under which existing solutions to the well-known drinking philosophers problem can be used to design control policies that prevents collisions and deadlocks. We further provide… Advisors/Committee Members: Ozay, Necmiye (committee member), Panagou, Dimitra (committee member), Lafortune, Stephane (committee member), Tripakis, Stavros (committee member).

Subjects/Keywords: multi-robot coordination; temporal logics; formal methods; path planning; deadlock avoidance; multi-agent systems; Electrical Engineering; Engineering

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

APA (6^th Edition):

Sahin, Y. (2020). Coordination of Multirobot Systems Under Temporal Constraints. (Doctoral Dissertation). University of Michigan. Retrieved from http://hdl.handle.net/2027.42/162921

Chicago Manual of Style (16^th Edition):

Sahin, Yunus. “Coordination of Multirobot Systems Under Temporal Constraints.” 2020. Doctoral Dissertation, University of Michigan. Accessed March 05, 2021. http://hdl.handle.net/2027.42/162921.

MLA Handbook (7^th Edition):

Sahin, Yunus. “Coordination of Multirobot Systems Under Temporal Constraints.” 2020. Web. 05 Mar 2021.

Vancouver:

Sahin Y. Coordination of Multirobot Systems Under Temporal Constraints. [Internet] [Doctoral dissertation]. University of Michigan; 2020. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/2027.42/162921.

Council of Science Editors:

Sahin Y. Coordination of Multirobot Systems Under Temporal Constraints. [Doctoral Dissertation]. University of Michigan; 2020. Available from: http://hdl.handle.net/2027.42/162921

Delft University of Technology

18. Wei, C. Cognitive Coordination for Cooperative Multi-Robot Teamwork.

Degree: 2015, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7

► Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more… (more)

Subjects/Keywords: multi-agent/robot systems; coordination; cognitive robots; teamwork

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

APA (6^th Edition):

Wei, C. (2015). Cognitive Coordination for Cooperative Multi-Robot Teamwork. (Doctoral Dissertation). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7

Chicago Manual of Style (16^th Edition):

Wei, C. “Cognitive Coordination for Cooperative Multi-Robot Teamwork.” 2015. Doctoral Dissertation, Delft University of Technology. Accessed March 05, 2021. http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7.

MLA Handbook (7^th Edition):

Wei, C. “Cognitive Coordination for Cooperative Multi-Robot Teamwork.” 2015. Web. 05 Mar 2021.

Vancouver:

Wei C. Cognitive Coordination for Cooperative Multi-Robot Teamwork. [Internet] [Doctoral dissertation]. Delft University of Technology; 2015. [cited 2021 Mar 05]. Available from: http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7.

Council of Science Editors:

Wei C. Cognitive Coordination for Cooperative Multi-Robot Teamwork. [Doctoral Dissertation]. Delft University of Technology; 2015. Available from: http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; urn:NBN:nl:ui:24-uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7 ; http://resolver.tudelft.nl/uuid:24ff01b3-cb96-4a30-8ab0-1b88f65cc9c7

19. Macwan, Ashish. A Multi-Robot Coordination Methodology for Wilderness Search and Rescue.

Degree: 2013, University of Toronto

URL: http://hdl.handle.net/1807/43655

►

One of the applications where the use of robots can be beneficial is Wilderness Search and Rescue (WiSAR), which involves the search for a possibly… (more)

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One of the applications where the use of robots can be beneficial is Wilderness Search and Rescue (WiSAR), which involves the search for a possibly mobile but non-trackable lost person (i.e., the target) in wilderness environments. A mobile target implies that the search area grows continuously and potentially without bound. This fact, combined with the presence of typically rugged, varying terrain and the possibility of inclement weather, poses a considerable challenge to human Search and Rescue (SAR) personnel with respect to the time and effort required to perform the search and the danger entailed to the searchers. Mobile robots can be advantageous in WiSAR due to their ability to provide consistent performance without getting tired and their lower susceptibility to harsh weather conditions compared to humans. Thus, a coordinated team of robots that can assist human SAR personnel by autonomously performing searches in WiSAR scenarios would be of great value. However, to date, a suitable multi-robot coordination methodology for autonomous search that can satisfactorily address the issues relevant to WiSAR is lacking. The objective of this Dissertation is, thus, to develop a methodology that can autonomously coordinate the search strategy of a multi-robot team in wilderness environments to locate a moving target that is neither continuously nor intermittently observed during the search process. Three issues in particular are addressed: (i) target-location prediction, (ii) robot deployment, and (iii) robot-path planning. The corresponding solution approaches devised to address these issues incorporate the influence of varying terrain that may contain a priori known and unknown obstacles, and deal with unique target physiology and psychology as well as found clues left behind by the target. The solution methods for these three tasks work seamlessly together resulting in a tractable MRC methodology for autonomous robotic WiSAR. Comprehensive simulations have been performed that validate the overall proposed methodology. Moreover, the tangible benefits provided by this methodology were further revealed through its comparison with an alternative search method.

PhD

Advisors/Committee Members: Benhabib, Beno, Nejat, Goldie, Mechanical and Industrial Engineering.

Subjects/Keywords: Multi-Robot Coordination; Search and Rescue; 0548

…Position MRC Multi-Robot Coordination NP-Hard Reference to the computational complexity of an… …probabilistic motion model, are known a priori. The literature on Multi-Robot Coordination (MRC… …objective of this Thesis is to develop a novel on-line-feasible multi-robot coordination… …x29; research also includes methods for coordinating a multi-robot search [45-49]… …literature, then, that autonomous, coordinated, multi-robot WiSAR, especially for ground-based…

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

APA (6^th Edition):

Macwan, A. (2013). A Multi-Robot Coordination Methodology for Wilderness Search and Rescue. (Doctoral Dissertation). University of Toronto. Retrieved from http://hdl.handle.net/1807/43655

Chicago Manual of Style (16^th Edition):

Macwan, Ashish. “A Multi-Robot Coordination Methodology for Wilderness Search and Rescue.” 2013. Doctoral Dissertation, University of Toronto. Accessed March 05, 2021. http://hdl.handle.net/1807/43655.

MLA Handbook (7^th Edition):

Macwan, Ashish. “A Multi-Robot Coordination Methodology for Wilderness Search and Rescue.” 2013. Web. 05 Mar 2021.

Vancouver:

Macwan A. A Multi-Robot Coordination Methodology for Wilderness Search and Rescue. [Internet] [Doctoral dissertation]. University of Toronto; 2013. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/1807/43655.

Council of Science Editors:

Macwan A. A Multi-Robot Coordination Methodology for Wilderness Search and Rescue. [Doctoral Dissertation]. University of Toronto; 2013. Available from: http://hdl.handle.net/1807/43655

University of New South Wales

20. Santoso, Fendy. Robust wireless intrusion detections in vehicular and robotic networks.

Degree: Electrical Engineering & Telecommunications, 2012, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/51944 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10614/SOURCE02?view=true

► Wireless intrusion detection systems have recently attracted considerable attention, specifically in the context of location-spoofing attacks. In the civilian domain, location spoofing is of growing… (more)

▼ Wireless intrusion detection systems have recently attracted considerable attention, specifically in the context of location-spoofing attacks. In the civilian domain, location spoofing is of growing concern due to extensive applications for future Intelligent Transport Systems (ITS), and emergency ad hoc networks. In the military domain, location spoofing attacks are of prime concern for networked multi-robot systems such as those deployed for e.g. mine sweeping, border surveillance and identification.In this thesis we will explore in detail the issue of location spoofing in emerging mobile networks. Specifically, we will investigate how to determine the time frames required for a user to be marked 'honest' or 'malicious' at required detection and false positive-rates. We also investigate the time frames needed to meet specific location verification accuracy. Having determined these time frames we will then investigate the additional time required for the mobile nodes to be moved to the required positions, necessary for the position verification, under distributed-control algorithms. Such distributed control algorithms, where each mobile node possesses no intrinsic accurate location information but only range estimates from its nearest neighbours, represent the likely emergency ad hoc deployment scenario. We now specify the contributions of the thesis in more detail.The first main contribution in this thesis is the development of a novel framework for a wireless intrusion detection algorithm that identifies malicious nodes which are not at their appropriate locations. We explicitly determine how the performance of the algorithm, as measured by detection and false positive rates, is influenced by the amount of tracking information collected. Based on the implementations of particle filters and detection thresholds set by Cramer-Rao Lower Bounds, we show how our tracking verification algorithm is capable of verifying any reported positions within a specific time frame at the required performance rates.The second main contribution in this thesis is the development of a new motion coordination scheme that can be employed in order to minimise the detection time for a specified location verification accuracy. We develop a greedy approach that achieves the optimum trajectory that minimises detection time in every sampling time. We also develop a sub-optimal approach to this problem that provides a good trade-off between performance and computational resources.The third main contribution of this thesis is the development of novel distributed control algorithms for controlling the positions of the mobile nodes that participate in the location verification. In these algorithms the nodes participating in the verification, use ranging information from nearest neighbours in order to align themselves in the best positions for the required location verification task. Such studies allow us to estimate the additional time required for our verification systems. This additional time arises because any realistic range-based… Advisors/Committee Members: Malaney, Robert, Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW, Sivaraman, Vijay, Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW.

Subjects/Keywords: Intelligent Transport Systems; Wireless Intrusion Detection Systems; Vehicular Networks; Particle Filters; Networked Multi-Robot Systems; Distributed Motion Coordination

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

APA (6^th Edition):

Santoso, F. (2012). Robust wireless intrusion detections in vehicular and robotic networks. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/51944 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10614/SOURCE02?view=true

Chicago Manual of Style (16^th Edition):

Santoso, Fendy. “Robust wireless intrusion detections in vehicular and robotic networks.” 2012. Doctoral Dissertation, University of New South Wales. Accessed March 05, 2021. http://handle.unsw.edu.au/1959.4/51944 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10614/SOURCE02?view=true.

MLA Handbook (7^th Edition):

Santoso, Fendy. “Robust wireless intrusion detections in vehicular and robotic networks.” 2012. Web. 05 Mar 2021.

Vancouver:

Santoso F. Robust wireless intrusion detections in vehicular and robotic networks. [Internet] [Doctoral dissertation]. University of New South Wales; 2012. [cited 2021 Mar 05]. Available from: http://handle.unsw.edu.au/1959.4/51944 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10614/SOURCE02?view=true.

Council of Science Editors:

Santoso F. Robust wireless intrusion detections in vehicular and robotic networks. [Doctoral Dissertation]. University of New South Wales; 2012. Available from: http://handle.unsw.edu.au/1959.4/51944 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:10614/SOURCE02?view=true

21. Mahdoui Chedly, Nesrine. Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM.

Degree: Docteur es, Technologies de l'Information et des Systèmes : Unité de recherche Heudyasic (UMR-7253), 2018, Compiègne

URL: http://www.theses.fr/2018COMP2447

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Dans la communauté robotique aérienne, un croissant intérêt pour les systèmes multirobot (SMR) est apparu ces dernières années. Cela a été motivé par i) les… (more)

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Dans la communauté robotique aérienne, un croissant intérêt pour les systèmes multirobot (SMR) est apparu ces dernières années. Cela a été motivé par i) les progrès technologiques, tels que de meilleures capacités de traitement à bord des robots et des performances de communication plus élevées, et ii) les résultats prometteurs du déploiement de SMR tels que l’augmentation de la zone de couverture en un minimum de temps. Le développement d’une flotte de véhicules aériens sans pilote (UAV: Unmanned Aerial Vehicle) et de véhicules aériens de petite taille (MAV: Micro Aerial Vehicle) a ouvert la voie à de nouvelles applications à grande échelle nécessitant les caractéristiques de tel système de systèmes dans des domaines tels que la sécurité, la surveillance des catastrophes et des inondations, la recherche et le sauvetage, l’inspection des infrastructures, et ainsi de suite. De telles applications nécessitent que les robots identifient leur environnement et se localisent. Ces tâches fondamentales peuvent être assurées par la mission d’exploration. Dans ce contexte, cette thèse aborde l’exploration coopérative d’un environnement inconnu en utilisant une équipe de drones avec vision intégrée. Nous avons proposé un système multi-robot où le but est de choisir des régions spécifiques de l’environnement à explorer et à cartographier simultanément par chaque robot de manière optimisée, afin de réduire le temps d’exploration et, par conséquent, la consommation d’énergie. Chaque UAV est capable d’effectuer une localisation et une cartographie simultanées (SLAM: Simultaneous Localization And Mapping) à l’aide d’un capteur visuel comme principale modalité de perception. Pour explorer les régions inconnues, les cibles – choisies parmi les points frontières situés entre les zones libres et les zones inconnues – sont assignées aux robots en considérant un compromis entre l’exploration rapide et l’obtention d’une carte détaillée. À des fins de prise de décision, les UAVs échangent habituellement une copie de leur carte locale, mais la nouveauté dans ce travail est d’échanger les points frontières de cette carte, ce qui permet d’économiser la bande passante de communication. L’un des points les plus difficiles du SMR est la communication inter-robot. Nous étudions cette partie sous les aspects topologiques et typologiques. Nous proposons également des stratégies pour faire face à l’abandon ou à l’échec de la communication. Des validations basées sur des simulations étendues et des bancs d’essai sont présentées.

In the aerial robotic community, a growing interest for Multi-Robot Systems (MRS) appeared in the last years. This is thanks to i) the technological advances, such as better onboard processing capabilities and higher communication performances, and ii) the promising results of MRS deployment, such as increased area coverage in minimum time. The development of highly efficient and affordable fleet of Unmanned Aerial Vehicles (UAVs) and Micro Aerial Vehicles (MAVs) of small size has paved the way to new large-scale…

Advisors/Committee Members: Frémont, Vincent (thesis director), Natalizio, Enrico (thesis director).

Subjects/Keywords: Coordination de système multi-robot; Exploration autonome; Exploration basée sur les frontières; Communication inter-robot; SLAM; Coordinated multi-robot; Autonomous exploration; Frontier-based exploration; Inter-robot communication; Simultaneous Localization And Mapping (SLAM)

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

APA (6^th Edition):

Mahdoui Chedly, N. (2018). Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM. (Doctoral Dissertation). Compiègne. Retrieved from http://www.theses.fr/2018COMP2447

Chicago Manual of Style (16^th Edition):

Mahdoui Chedly, Nesrine. “Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM.” 2018. Doctoral Dissertation, Compiègne. Accessed March 05, 2021. http://www.theses.fr/2018COMP2447.

MLA Handbook (7^th Edition):

Mahdoui Chedly, Nesrine. “Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM.” 2018. Web. 05 Mar 2021.

Vancouver:

Mahdoui Chedly N. Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM. [Internet] [Doctoral dissertation]. Compiègne; 2018. [cited 2021 Mar 05]. Available from: http://www.theses.fr/2018COMP2447.

Council of Science Editors:

Mahdoui Chedly N. Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM. [Doctoral Dissertation]. Compiègne; 2018. Available from: http://www.theses.fr/2018COMP2447

22. Khandelwal, Piyush. On-demand coordination of multiple service robots.

Degree: PhD, Computer Science, 2017, University of Texas – Austin

URL: http://hdl.handle.net/2152/61382

► Research in recent years has made it increasingly plausible to deploy a large number of service robots in home and office environments. Given that multiple… (more)

▼ Research in recent years has made it increasingly plausible to deploy a large number of service robots in home and office environments. Given that multiple mobile robots may be available in the environment performing routine duties such as cleaning, building maintenance, or patrolling, and that each robot may have a set of basic interfaces and manipulation tools to interact with one another as well as humans in the environment, is it possible to coordinate multiple robots for a previously unplanned on-demand task? The research presented in this dissertation aims to begin answering this question. This dissertation makes three main contributions. The first contribution of this work is a formal framework for coordinating multiple robots to perform an on-demand task while balancing two objectives: (i) complete this on-demand task as quickly as possible, and (ii) minimize the total amount of time each robot is diverted from its routine duties. We formalize this stochastic sequential decision making problem, termed on-demand multi-robot coordination, as a Markov decision Process (MDP). Furthermore, we study this problem in the context of a specific on-demand task called multi-robot human guidance, where multiple robots need to coordinate and efficiently guide a visitor to his destination. Second, we develop and analyze stochastic planning algorithms, in order to efficiently solve the on-demand multi-robot coordination problem in real-time. Monte Carlo Tree Search (MCTS) planning algorithms have demonstrated excellent results solving MDPs with large state-spaces and high action branching. We propose variants to the MCTS algorithm that use biased backpropagation techniques for value estimation, which can help MCTS converge to reasonable yet suboptimal policies quickly when compared to standard unbiased Monte Carlo backpropagation. In addition to using these planning algorithms for efficiently solving the on-demand multi-robot coordination problem in real-time, we also analyze their performance using benchmark domains from the International Planning Competition (IPC). The third and final contribution of this work is the development of a multi-robot system built on top of the Segway RMP platform at the Learning Agents Research Group, UT Austin, and the implementation and evaluation of the on-demand multi-robot coordination problem and two different planning algorithm on this platform. We also perform two studies using simulated environments, where real humans control a simulated avatar, to test the implementation of the MDP formalization and planning algorithms presented in this dissertation. Advisors/Committee Members: Stone, Peter, 1971- (advisor), Grauman, Kristen (committee member), Niekum, Scott (committee member), Thomaz, Andrea (committee member), Veloso, Manuela (committee member).

Subjects/Keywords: Multi-robot coordination; Monte Carlo tree search; Markov decision processes; Probabilistic planning; Multi-robot systems

…Multi Robot Coordination .................................................. 111 5.3 Research… …6.1.1 Multi-Robot Coordination .................................................. 124 6.1.2… …consider while solving the on-demand multi-robot coordination problem. In order to complete the… …demand multi-robot coordination problem as a Markov Decision Process. Markov Decision Processes… …the complete on-demand multi-robot coordination problem, we first formalize a simpler…

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

APA (6^th Edition):

Khandelwal, P. (2017). On-demand coordination of multiple service robots. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/61382

Chicago Manual of Style (16^th Edition):

Khandelwal, Piyush. “On-demand coordination of multiple service robots.” 2017. Doctoral Dissertation, University of Texas – Austin. Accessed March 05, 2021. http://hdl.handle.net/2152/61382.

MLA Handbook (7^th Edition):

Khandelwal, Piyush. “On-demand coordination of multiple service robots.” 2017. Web. 05 Mar 2021.

Vancouver:

Khandelwal P. On-demand coordination of multiple service robots. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2017. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/2152/61382.

Council of Science Editors:

Khandelwal P. On-demand coordination of multiple service robots. [Doctoral Dissertation]. University of Texas – Austin; 2017. Available from: http://hdl.handle.net/2152/61382

23. Schropp, G.Y.R. Agent Organization Framework for Coordinated Multi-Robot Soccer.

Degree: 2014, Universiteit Utrecht

URL: http://dspace.library.uu.nl:8080/handle/1874/294948

► In this thesis my final Msc research project in Cognitive Artificial Intelligence is presented. The main issue adressed in this work is the problem of… (more)

▼ In this thesis my final Msc research project in Cognitive Artificial Intelligence is presented. The main issue adressed in this work is the problem of `ad hoc coordination'. Coordination in this context mainly is cooperation in teamwork: interaction between multiple agents that share a certain environment or system, whilst trying to achieve certain goals or objectives together. When coordination is `ad hoc', an agent does not know what to expect of the other agents and their plans, but nevertheless has to contribute to their teamwork in achieving goals. In this project, the domain of robot soccer is taken as a specific application of the problem of ad hoc coordination, with special attention to the coach robot. The contribution of this work to the problem is twofold: from an agent theory point of view, a formal framework for the robot soccer society of the RoboCup Standard Platform League is designed using the OperA methodology for agent organizations. This framework is grounded in a combination of deontic and temporal logics and provides structures for coordination while still being flexible and allowing for extension with various agent architectures and other lower level implementations. In order to ground the concepts used in the framework, a sensor data-driven module is developed to infer an agent's plans. In order to be able to coordinate ad hoc, the coach first has to learn the ways and plans of his teammates and/or opponents, before deciding on how to adapt his strategy in order to improve the team's performance. In collaboration with the University of Edinburgh's Robust Autonomy and Decisions robotics group, a plan recognition module has been developed. As an extension of the current methodology towards a more high-level approach of multi-agent interaction, the domain is approached from a logical, multi-agent theory point of view, aiming at structured coordination and teamwork. This thesis yields a thorough agent organization model of the robot soccer society combined with a plan recognition module and suggestions on their connection. Advisors/Committee Members: Meyer, J-J. Ch..

Subjects/Keywords: Multi-agent systems; robot soccer; ad hoc coordination; artificial intelligence.

…teams to improve the tactics and coordination of robot soccer teams [9, 10, 107]… …framework for communication and coordination in the agent society of the robot soccer domain… …x29;. The organizational aspects (roles, norms, coordination) of robot soccer are… …abstract agent frameworks and Multi-Agent Systems. The actual Robot Soccer Society framework will… …Coordination mechanisms are an important part of the notion of the organization-oriented Multi-Agent…

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

APA (6^th Edition):

Schropp, G. Y. R. (2014). Agent Organization Framework for Coordinated Multi-Robot Soccer. (Masters Thesis). Universiteit Utrecht. Retrieved from http://dspace.library.uu.nl:8080/handle/1874/294948

Chicago Manual of Style (16^th Edition):

Schropp, G Y R. “Agent Organization Framework for Coordinated Multi-Robot Soccer.” 2014. Masters Thesis, Universiteit Utrecht. Accessed March 05, 2021. http://dspace.library.uu.nl:8080/handle/1874/294948.

MLA Handbook (7^th Edition):

Schropp, G Y R. “Agent Organization Framework for Coordinated Multi-Robot Soccer.” 2014. Web. 05 Mar 2021.

Vancouver:

Schropp GYR. Agent Organization Framework for Coordinated Multi-Robot Soccer. [Internet] [Masters thesis]. Universiteit Utrecht; 2014. [cited 2021 Mar 05]. Available from: http://dspace.library.uu.nl:8080/handle/1874/294948.

Council of Science Editors:

Schropp GYR. Agent Organization Framework for Coordinated Multi-Robot Soccer. [Masters Thesis]. Universiteit Utrecht; 2014. Available from: http://dspace.library.uu.nl:8080/handle/1874/294948

Universidade do Rio Grande do Sul

24. Moraes, Rodrigo Saar de. A distributed cooperative multi-UAV coordination system for crowd monitoring applications.

Degree: 2018, Universidade do Rio Grande do Sul

URL: http://hdl.handle.net/10183/180131

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Observing the current scenario, where terrorism and vandalism acts have become commonplace, particularly in big cities, it becomes clear the need to equip law enforcement… (more)

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Observing the current scenario, where terrorism and vandalism acts have become commonplace, particularly in big cities, it becomes clear the need to equip law enforcement forces with an efficient observation method, capable of identifying and observing potentially threatening individuals on crowds, to avoid or minimize damage in case of attacks. Moreover, with the popularization of small lightweight Unmanned Aerial Vehicles (UAVs), these have become an affordable and efficient tool, which can be used to track and follow targets or survey areas or buildings quietly, safely and almost undetectably. This work presents the development of a multi-UAV based crowd monitoring system, demonstrating a system that uses small Commercial Of The Shelf (COTS) UAVs to periodically monitor a group of moving walking individuals. The goal of this work is to develop a coordination system for a swarm of UAVS capable of continuously monitoring a large group of individuals (targets) in a crowd, alternately observing each of them at a time while trying to not lose sight of any of these targets. A system equipped with a group of UAVs running this proposal can be used for law-enforcement applications, assisting authorities to monitor crowds in order to identify and to follow suspicious individuals that can have attitudes that could be classified as vandalism or linked to terrorist attack attempts To address this problem a system composed of three parts is proposed and was developed in this thesis. First, an auction algorithm was put in place to distribute interest targets among the multiple UAVs. The UAVs, in turn, make use of a genetic algorithm to calculate the order in which they would visit each of the targets on their observation queue. Moreover, a target handover algorithm was also implemented to redistribute targets among the UAVs in case the system judged that a target was about to be lost by its current observer UAV. The proposed system was evaluated through a set of experiments set-up to verify and to demonstrate the system capabilities to perform such monitoring task, proving its efficiency. During these experiments, it is made clear that the system as a whole has a great potential to solve this kind of moving target monitoring problem that can be mapped to a Time Dependent Travel Salesman Problem (TDTSP), observing targets, and redistributing them among UAVs as necessary during the mission.

Ao observar a situação atual, na qual atos de vandalismo e terrorismo tornaram-se frequentes e cada vez mais presentes ao redor do mundo, principalmente em grandes cidades, torna-se clara a necessidade de equipar as forças policiais com tecnologias de observação e monitoramento inteligentes, capazes de identificar e monitorar indivíduos potencialmente perigosos que possam estar infiltrados nas multidões. Ao mesmo tempo, com sua recente popularização, veículos aéreos não tripulados, também chamados VANTs e conhecidos popularmente como "drones", acabaram por tornar-se ferramentas baratas e eficientes para diversas aplicações, incluindo…

Advisors/Committee Members: Freitas, Edison Pignaton de.

Subjects/Keywords: Multiple-UAV systems; Engenharia de controle e automação; Monitoramento; Robot coordination; Multi-target observation; Veículo aéreo não tripulado; UAV monitoring; Crowd monitoring; Target tracking

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

APA (6^th Edition):

Moraes, R. S. d. (2018). A distributed cooperative multi-UAV coordination system for crowd monitoring applications. (Thesis). Universidade do Rio Grande do Sul. Retrieved from http://hdl.handle.net/10183/180131

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):

Moraes, Rodrigo Saar de. “A distributed cooperative multi-UAV coordination system for crowd monitoring applications.” 2018. Thesis, Universidade do Rio Grande do Sul. Accessed March 05, 2021. http://hdl.handle.net/10183/180131.

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

MLA Handbook (7^th Edition):

Moraes, Rodrigo Saar de. “A distributed cooperative multi-UAV coordination system for crowd monitoring applications.” 2018. Web. 05 Mar 2021.

Vancouver:

Moraes RSd. A distributed cooperative multi-UAV coordination system for crowd monitoring applications. [Internet] [Thesis]. Universidade do Rio Grande do Sul; 2018. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/10183/180131.

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

Council of Science Editors:

Moraes RSd. A distributed cooperative multi-UAV coordination system for crowd monitoring applications. [Thesis]. Universidade do Rio Grande do Sul; 2018. Available from: http://hdl.handle.net/10183/180131

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

25. Sung, Yoonchang. Multi-Robot Coordination for Hazardous Environmental Monitoring.

Degree: PhD, Electrical Engineering, 2019, Virginia Tech

URL: http://hdl.handle.net/10919/95057

► Quick response to hazards is crucial as the hazards may put humans at risk and thorough removal of hazards may take a substantial amount of… (more)

Subjects/Keywords: Environmental Monitoring; Multi-Robot Coordination; Planning Algorithms; Decision Making

…hazardous agents, sensing, and multi-robot coordination. In the following we discuss each of these… …second closest tracks. . . . . 33 3.1 Description of multi-robot task allocation for multi… …finds multi-robot search path planning in a known environment. The recent survey by Chung et… …this has been extended to a multi-robot version in Dames [61]. We use GM-PHD that… …multi-robot formation control considering a limited FOV sensor. However, they used the…

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

APA (6^th Edition):

Sung, Y. (2019). Multi-Robot Coordination for Hazardous Environmental Monitoring. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/95057

Chicago Manual of Style (16^th Edition):

Sung, Yoonchang. “Multi-Robot Coordination for Hazardous Environmental Monitoring.” 2019. Doctoral Dissertation, Virginia Tech. Accessed March 05, 2021. http://hdl.handle.net/10919/95057.

MLA Handbook (7^th Edition):

Sung, Yoonchang. “Multi-Robot Coordination for Hazardous Environmental Monitoring.” 2019. Web. 05 Mar 2021.

Vancouver:

Sung Y. Multi-Robot Coordination for Hazardous Environmental Monitoring. [Internet] [Doctoral dissertation]. Virginia Tech; 2019. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/10919/95057.

Council of Science Editors:

Sung Y. Multi-Robot Coordination for Hazardous Environmental Monitoring. [Doctoral Dissertation]. Virginia Tech; 2019. Available from: http://hdl.handle.net/10919/95057

26. Bouteraa, Yassine. Commande distribuée et synchronisation de robots industriels coopératifs : Distributed control and synchronization of cooperative robot manipulators.

Degree: Docteur es, Sciences et technologie industrielle, 2012, Orléans; Université de Sfax (Tunisie)

URL: http://www.theses.fr/2012ORLE2082

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Cette thèse développe les lois de coordination de systèmes de Lagrange. Elle propose en premier lieu une stratégie complètement décentralisée qui se base sur la… (more)

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Cette thèse développe les lois de coordination de systèmes de Lagrange. Elle propose en premier lieu une stratégie complètement décentralisée qui se base sur la technique de cross-coupling pour la commande d'un groupe de robots, appelé réseau, qui synchronisent leurs mouvements en suivant une trajectoire désirée. Cette stratégie est étendue pour faire face à l'incertitude paramétrique des robots ainsi qu’aux retards fréquemment rencontrés dans les applications pratiques de réseaux de communication. Une deuxième architecture basée sur la théorie des graphes est proposée pour les réseaux à leader. L'approche développée est considérée hybride. Une extension adaptative à base de réseaux de neurones est développée pour traiter les cas d'incertitude paramétrique. La stratégie conçue prend en considération les délais dans la réception des données. En se basant sur la notion de système en chaîne, la théorie des graphes, le concept de la passivité et la technique du backstepping, une nouvelle méthodologie de la conception de contrôleur de synchronisation pour une classe de systèmes sous-actionnés est développée. Afin d’avoir la possibilité d’implémenter ces stratégies de contrôle, on a développé une plate-forme d'expérimentation pour la robotique industrielle coopérative.

This thesis investigates the issue of designing decentralized control laws to cooperatively control a team of robot manipulators. The purpose is to synchronize their movements while tracking common desired trajectory. Based on a combination of Lyapunov direct method and cross-coupling technique, To account for unmatched uncertainties, the proposed decentralized control laws are extended to an adaptive synchronization tracking controllers. Moreover, due to communication imperfection, time delay communication problems are considered in the performance analysis of the controllers. Another relevant problem for distributed synchronized systems is the leader-follower control problem. In this strategy, a decentralized control laws based on the backstepping scheme is proposed to deal with a leader-follower multiple robots structure. Based on graph theory, the coordination strategy combines the leader follower control with the decentralized control. The thesis, also considers the cooperative movement of under- actuated manipulators tracking reference trajectories defined by the user. The control problem for a network of class of under-actuated systems is considered. The approach we adopted in this thesis consists in decomposing the under-actuated manipulators into a cascade of passive subsystems that synchronize with he other neighbors subsystems. The resulting synchronized control law is basically a combination of non-regular backstepping procedure aided with some concepts from graph theory. The proposed controllers are validated numerically, assuming that the underlying communication graph is strongly connected. To implement these control strategies, we developed an experimental platform made of three robot manipulators.

Advisors/Committee Members: Poisson, Gérard (thesis director), Derbel, Nabil (thesis director).

Subjects/Keywords: Coopération de robots; Synchronisation; Techniques de coordination; Système sous actionné; Commande distribuée; Commande à retard; Commande non linéaire; Multi-robot; Cooperative synchronization; Coordination; Lagrangian system; Under-actuated system; Time-delay systems; Distributed control; Non-linear control

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

APA (6^th Edition):

Bouteraa, Y. (2012). Commande distribuée et synchronisation de robots industriels coopératifs : Distributed control and synchronization of cooperative robot manipulators. (Doctoral Dissertation). Orléans; Université de Sfax (Tunisie). Retrieved from http://www.theses.fr/2012ORLE2082

Chicago Manual of Style (16^th Edition):

Bouteraa, Yassine. “Commande distribuée et synchronisation de robots industriels coopératifs : Distributed control and synchronization of cooperative robot manipulators.” 2012. Doctoral Dissertation, Orléans; Université de Sfax (Tunisie). Accessed March 05, 2021. http://www.theses.fr/2012ORLE2082.

MLA Handbook (7^th Edition):

Bouteraa, Yassine. “Commande distribuée et synchronisation de robots industriels coopératifs : Distributed control and synchronization of cooperative robot manipulators.” 2012. Web. 05 Mar 2021.

Vancouver:

Bouteraa Y. Commande distribuée et synchronisation de robots industriels coopératifs : Distributed control and synchronization of cooperative robot manipulators. [Internet] [Doctoral dissertation]. Orléans; Université de Sfax (Tunisie); 2012. [cited 2021 Mar 05]. Available from: http://www.theses.fr/2012ORLE2082.

Council of Science Editors:

Bouteraa Y. Commande distribuée et synchronisation de robots industriels coopératifs : Distributed control and synchronization of cooperative robot manipulators. [Doctoral Dissertation]. Orléans; Université de Sfax (Tunisie); 2012. Available from: http://www.theses.fr/2012ORLE2082

27. 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

…7 1.2 Illustration of the multi-robot recharging problem . . . . . . . . . . . . . . 8… …be modelled as variants of the TSP. Multi-robot path planning problems can be similarly… …adaptation of the Noon-Bean method for MGTSP solutions to Multi-robot path planning problems. In… …rover and the second presents a multi-robot path planning strategy for optimally scheduled… …presented and compared to existing coverage approaches. 1.3.2 Multi-robot Rendezvous for…

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

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 March 05, 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. 05 Mar 2021.

Vancouver:

Mathew N. Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous. [Internet] [Thesis]. University of Waterloo; 2014. [cited 2021 Mar 05]. 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

Brigham Young University

28. Sorensen, Gerrit Addison N. A Flexible Infrastructure for Multi-Agent Systems.

Degree: MS, 2005, Brigham Young University

URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1562&context=etd

► Multi-Agent coordination and control has been studied for a long time, but has recently gained more interest because of technology improvements allowing smaller, more versatile… (more)

Subjects/Keywords: multi-agent; infrastructure; simulation; robot; capture-the-flag; coordination; human factors; neglect tolerance; robot soccer; urban environment; path-finding; graph generation; safe-path; collision avoidance; Electrical and Computer Engineering

Record Details Similar Records Cite « Share

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

APA (6^th Edition):

Sorensen, G. A. N. (2005). A Flexible Infrastructure for Multi-Agent Systems. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1562&context=etd

Chicago Manual of Style (16^th Edition):

Sorensen, Gerrit Addison N. “A Flexible Infrastructure for Multi-Agent Systems.” 2005. Masters Thesis, Brigham Young University. Accessed March 05, 2021. https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1562&context=etd.

MLA Handbook (7^th Edition):

Sorensen, Gerrit Addison N. “A Flexible Infrastructure for Multi-Agent Systems.” 2005. Web. 05 Mar 2021.

Vancouver:

Sorensen GAN. A Flexible Infrastructure for Multi-Agent Systems. [Internet] [Masters thesis]. Brigham Young University; 2005. [cited 2021 Mar 05]. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1562&context=etd.

Council of Science Editors:

Sorensen GAN. A Flexible Infrastructure for Multi-Agent Systems. [Masters Thesis]. Brigham Young University; 2005. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=1562&context=etd

Open Access Theses and Dissertations