Decentralizirano upravljanje heterogenim robotskim sustavom

master's thesis

• Title (english): Decentralized control of heterogeneous robotic system
• Author: Barbara Arbanas
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zoran Vukić (član povjerenstva)
• Committee member: Nikola Mišković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2015-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Pronalaženje metoda za ostvarivanje koherentnog, robusnog i prilagodljivog ponašanja skupina autonomnih robota je jedan od najvećih problema s područja robotike. U ovom radu koristi se generički pristup po uzoru na GPGP model koji omogućava uspješnu kordinaciju heterogenog sustava robota neovisno o domeni problema koji se rješava. Hijerarhijski prikaz problema jezikom T\AE MS pruža bogatu definiciju strukture zadataka te podržava definiranje složenih međuovisnosti zadataka. Proces planiranja misije pojedinih agenata ostvaren je raspoređivanjem zadataka na temelju kriterija (DTC) koji definiraju način određivanja kvalitete rasporeda i usmjeravaju postupak planiranja prema boljim rješenjima. Kako bi agenti djelovali udruženo u svrhu ispunjenja zajedničke misije, realiziran je skup posebnih koordinacijskih mehanizama.

Abstract (english)

Finding methods for achieving coherent, robust and adaptive behavior of a group of autonomous robots is one of the greatest problems in the field of robotics. This thesis employs a generic approach inspired by GPGP model that allows for successful coordination of heterogeneous robot systems regardless of the domain of the problem being solved. Hierarchical problem representation using T\AE MS framework provides rich definition of task structure and supports specification of complex task interdependence. DTC scheduler used for creating agent's local schedule copes with high-order complexity while custom tailoring a way to achieve mission goal to fit a particular client's criteria. In order to accomplish coordinated agent behavior, a special set of coordination mechanisms was developed.

• Keywords: Raspoređivanje zadataka; decentralizirano upravljanje; višerobotski sustavi; GPGP
• Keywords (english): Task scheduling; decentralized control; cooperative systems; multi-robot systems; GPGP
• Language: croatian
• URN:NBN: urn:nbn:hr:168:289282
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 07:38:24