Planiranje misija za heterogeni robotski sustav

undergraduate thesis

• Title (english): Mission planning for a heterogeneous robotic system
• Author: Marko Cavalli
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (predsjednik povjerenstva)
• Committee member: Antun Ivanović (član povjerenstva)
• Committee member: Barbara Arbanas (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U ovom radu proučen je način koordinacije više autonomnih robota s različitim sposobnostima koji zajedničkim snagama obavljaju misiju. Misija je reprezentirana TÆMS strukturom stabla, koja predstavlja individualne akcije robota i međuovisnosti akcija koje zajedno tvore misiju. Korišten je GPGP decentralizirani algoritam planiranja, gdje roboti zasebno planiraju svoje lokalno viđenje misije i koordinacijom s drugim robotima zajednički stvaraju plan izvođenja misije. Algoritmi su ispitani na više letjelica s različitim sposobnostima u simulacijskom okruženju Gazebo te je predložena
metoda implementacije na stvarnom sustavu.

Abstract (english)

This thesis discusses the method of coordinating multiple autonomous robots carrying
out cooperative missions taking into account their unique capabilities. The mission
is represented by the TÆMS structure that forms a tree-like structure of individual
actions to be taken by the robots and their dependency. A GPGP decentralized
planning algorithm was used, where robots independently plan their local mission
view and coordinate with other robots jointly to create mission execution plans. The
algorithms were tested on various drones with different capabilities in the simulation
environment Gazebo and the implementation method on real systems has been proposed.

• Keywords: ROS; TAEMS; GPGP; autonomni roboti; heterogeni robotski sustav; decentralizirano planiranje
• Keywords (english): ROS; TAEMS; GPGP; Autonomous robots; Heterogeneous robotics systems; Decentralized planning
• Language: croatian
• URN:NBN: urn:nbn:hr:168:994524
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 19:32:59