Decentralizirana metoda za planiranje razmjene energije u multi - robotskom sustavu

master's thesis

• Title (english): Decentralized approach to energy exchange in multi - robot systems
• Author: Sara Boljunčić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Nikola Mišković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-21, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Razmjeni energije u multi-robotskom sustavu pristupa se kreiranjem rasporeda punjenja između agenata. Ovaj rad istražuje dva pristupa kreiranju rasporeda.

Prvi pristup je decentralizirano generiranje rasporeda uz pomoć TAEMS jezika. Agenti u sustavu razmjenjuju podatke i pronađena rješenja rasporeda. Konačno rješenje je ono oko kojeg se svi agenti usuglase.

Drugi pristup je centralizirana verzija. Izabrani agent sudjeluje u pronalaženju rješenja pomoću metaheurističkog algoritma. Od tri testirana algoritma, Simulirano Kaljenje je pokazalo najbolje rezultate i izabrano je kao glavni algoritam. Implementirana je i decentralizirana verzija drugog pristupa gdje je izabrano više početnih rješenja i više agenata koji pronalaze optimalno rješenje uz pomoć simuliranog kaljenja. Decentralizirana metoda drugog pristupa je pokazala najbolje rezultate kod izrade rasporeda.

Abstract (english)

Energy exchange in a multi-robot system is managed by creating a schedule of charging between agents. This thesis explores two approaches to the schedule creation.

The first approach is a decentralized schedule generation with TAEMS. Agents in the system interchange information and solutions and the final solution is the one all agents agree on.

The second approach is a centralized version. The chosen agent calculates the scheduling solution using a metaheuristic algorithm. Simulated Annealing is the best of the three algorithms tested and is the most suitable for the system. A decentralized version of this approach uses more starting solutions and calculates the result on multiple agents. The solution with the lowest cost is chosen as the best. This decentralized approach showed better results than the centralized one.

• Keywords: Razmjena Energije; Multi-robotski sustav; Decentralizirano; TAEMS; Simulirano Kaljenje
• Keywords (english): Energy exchange; Multi-robot system; Decentralized; TAEMS; Simulated Annealing
• Language: english
• URN:NBN: urn:nbn:hr:168:263159
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 07:57:32