Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 14 of 14 for “"Multi-Robot Coordination"”.
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Graph Neural Networks for Multi-Robot Coordination
… framework that can learn to communicate between robots based on Graph Neural Networks (GNNs) towards better individual decision-making given its local information in a decentralized manner. This framework is composed of an encoder (i.e. Convolutional Neural Network) that extracts adequate …
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Multi-Robot Coordination for Hazardous Environmental Monitoring
… for human operators, we seek a fully automated robotic system that can help humans. However, there are still many challenges from hardware design to algorithm design that restrict robots to be applied to practical applications. Among these challenges, we are particularly interested in dealing …
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Parsimonious, Risk-Aware, and Resilient Multi-Robot Coordination
In this dissertation, we study multi-robot coordination in the context of multi-target tracking. Specifically, we are interested in the coordination achieved by means of submodular function optimization. Submodularity encodes the diminishing returns property that arises in multi-robot coordination. …
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MULTI-ROBOT COORDINATION AND COOPERATION VIA GRAPH-BASED COMPUTATION
Multi-robot coordination and cooperation are critical behaviors that improve team capabilities and enable new tasks in application areas like autonomous construction, agriculture, and extended operation in large unknown regions. This dissertation examines these behaviors in the context of the …
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Output Synchronization of Networked Passive Systems
… the general problem of synchronization of multiple Lagrangian systems. The problems of multi-robot coordination and of bilateral teleoperation with time delay are shown to be special cases of our general results.
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Learning Heterogeneous Resource-Constrained Task Allocation Using Concurrent Multi-Task Bandits
Task allocation is a critical aspect of multi-robot coordination, enabling the completion of complex tasks that would be intractable for individual robots. However, existing approaches to task allocation often assume that task requirements or reward functions are known and explicitly specified by …
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Learning-based cooperative perception and control for multi-robot systems
Multi-robot systems (MRS) are key to addressing complex real-world problems through the coordination of multiple autonomous agents but are burdened by the curse of dimensionality, which compounds the difficulty of applying solutions to large-scale problem instances. The use of learning-based …
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Decentralized control of multi-robot systems using partially observable Markov Decision Processes and belief space macro-actions
Planning, control, perception, and learning for multi-robot systems present signicant challenges. Transition dynamics of the robots may be stochastic, making it difficult to select the best action each robot should take at a given time. The observation model, a function of the robots' sensors, may …
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Collaborative Autonomy of Multi-Agent Aerial Systems for Future Disaster Response
… allocation, and agentic decision-making for multi-agent aerial systems. Chapter 1 provides the research background and motivation for developing collaborative autonomy in multi-agent aerial systems for disaster response applications. Chapter 2 reviews the state of the art in several areas, …
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Consensus Seeking, Formation Keeping, and Trajectory Tracking in Multiple Vehicle Cooperative Control
<p>Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control …
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Submodular Optimization in Multi-Robot Teams: Robustness, Resilience, and Decentralization
Decision-making is an essential topic for multi-robot coordination and collaboration and is also the main topic of this thesis. Examples can be found in autonomous driving, environmental monitoring, intelligent transportation, etc. To study this problem, we first use multiple applications as …
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Multi-agent planning for coordinated robotic weed killing
This work presents a strategy for coordinated multi-agent weeding under conditions of partial environmental information. Our goal is to demonstrate the feasibility of coordination strategies for improving the weeding performance of autonomous agricultural robots. We show that, given a sufficient …
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View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams
… planning in static and dynamic scenes using multi-robot teams. This work is motivated by two applications: bridge inspection and environmental monitoring using Unmanned Aerial Vehicles. For static scenes, we are given a set of target points in a polygonal environment that must be monitored …