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dc.contributor.advisorAmato, Nancy M
dc.creatorMahadevan, Aditya
dc.date.accessioned2014-05-13T17:10:31Z
dc.date.available2015-12-01T06:31:08Z
dc.date.created2013-12
dc.date.issued2013-11-06
dc.date.submittedDecember 2013
dc.identifier.urihttp://hdl.handle.net/1969.1/151689
dc.description.abstractWe study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents.
dc.format.mimetypeapplication/pdf
dc.language.isoen
dc.subjectMotion planning
dc.subjectrobotics
dc.subjectmulti-agent systems
dc.subjectprobabilistic roadmaps
dc.subjectcaravanning
dc.subjectheterogeneous robots
dc.titleMulti-robot Caravanning
dc.typeThesis
thesis.degree.departmentComputer Science and Engineering
thesis.degree.disciplineComputer Science
thesis.degree.grantorTexas A & M University
thesis.degree.nameMaster of Science
thesis.degree.levelMasters
dc.contributor.committeeMemberChakravorty, Suman
dc.contributor.committeeMemberSong, Dezhen
dc.type.materialtext
dc.date.updated2014-05-13T17:10:31Z
local.embargo.terms2015-12-01


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