THESIS
2022
1 online resource (x, 43 pages) : illustrations (some color)
Abstract
In this thesis, we propose a coverage control system for a multi-robot team with
heterogeneous capabilities to patrol or monitor a bounded environment. The capability
could be defined as any criterion of robots like remaining power or mobile speed, depending
on the purpose. The proposed control system aims to allocate different portions of the
environment to the robots according to their capabilities, i.e., the robot with higher
capability takes a larger portion of the environment while the robot with lower capability
takes a smaller one. We use the block coordinate descent (BCD) method to optimize
the location of portions and the partitioning method alternately. A centralized machine
is used to synchronize the robots and the gradient of each robot can be computed in a
distributed manne...[
Read more ]
In this thesis, we propose a coverage control system for a multi-robot team with
heterogeneous capabilities to patrol or monitor a bounded environment. The capability
could be defined as any criterion of robots like remaining power or mobile speed, depending
on the purpose. The proposed control system aims to allocate different portions of the
environment to the robots according to their capabilities, i.e., the robot with higher
capability takes a larger portion of the environment while the robot with lower capability
takes a smaller one. We use the block coordinate descent (BCD) method to optimize
the location of portions and the partitioning method alternately. A centralized machine
is used to synchronize the robots and the gradient of each robot can be computed in a
distributed manner. Simulation results are provided to illustrate the performance of the
proposed control system.
Post a Comment