Distribuirana optimizacija raspoređivanja zadataka s ograničenjima u više-robotskim sustavima

undergraduate thesis

• Title (english): Distributed optimization of constrained-tasks scheduling in multi-robot systems
• Author: Dominik Sebešić
• Mentor: Tamara Petrović (mentor)
• Committee member: Tamara Petrović (predsjednik povjerenstva)
• Committee member: Marijana Peti (član povjerenstva)
• Committee member: Marko Križmančić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-09-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Problem distribucije zadataka je problem koji je moguće riješiti na dva glavna načina, centraliziranim i decentraliziranim postupcima. Max-sum je decentralizirani algoritam koji razmjenom poruka između jedinica u sustavu odlučuje koja kofiguracija najviše doprinosi globalnom cilju. U max-sum-u taj cilj se prati kao funkcija troška, koja je pridodana svakom zadatku. Nakon svake iteracije algoritma svaki agent bira zadatak koji će odraditi temeljno o globalnoj funckiji troška iz njegovog pogleda na sustav.

Abstract (english)

The task distribution problem is a problem that can be solved in two main ways, by centralized and decentralized procedures. Max-sum is a decentralized algorithm that, by exchanging messages between units in a system, decides which configuration contributes most to a global goal. In max-sum, this goal is tracked as a cost function, which is attached to each task. After each iteration of the algorithm, each agent selects a task to put in it's schedule, based on the global cost function from its point of view of the system.

• Keywords: Max-sum; više-robotski sustavi; problem raspoređivanje zadataka
• Keywords (english): Max-sum; multi-robot systems; task allocation problem
• Language: croatian
• URN:NBN: urn:nbn:hr:168:332100
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-15 11:11:25