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 20 of 52 for “"Multi-Robot Systems"”.
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PERIMETER DEFENSE WITH MULTI-ROBOT SYSTEMS
… In addition, we consider a new axis of multi-robot capability which describes the team sizes of both the defender and intruder. This direction is especially important to consider given the recent advances in multi-robot systems. We present control policies across a range of physical and …
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Local distributed algorithms for multi-robot systems
The field of swarm robotics focuses on controlling large populations of simple robots to accomplish tasks more effectively than what is possible using a single robot. This thesis develops distributed algorithms tailored for multi-robot systems with large populations. Specifically we focus on local …
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Fault-tolerant control policies for multi-robot systems
… algorithms for networked mobile autonomous robots. Often, in multi-robot systems, each robot executing a coordination task is a little cost, a disposable autonomous agent that has ad-hoc sensing or communication capability, and limited mobility. Coordination tasks that a group of multiple …
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Object Detection and Collaboration in Heterogeneous Multi-Robot Systems
With the development of novel technologies, robots are becoming more widely used in everyday applications. Compared with a single robot, Multi-Robot Systems (MRS) are more powerful and cost effective. This thesis will introduce a complete heterogeneous distributed MRS which contains an autonomous …
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Multi-type Fair Resource Allocation for Distributed Multi-Robot Systems
… We propose solutions to the fairness problem in multi-type resource allocation for multi-robot systems that have multiple resource requesters. We apply the dominant resource fairness (DRF) principle in our solutions to two different systems: single-tasking robots with multi-robot tasks (STR-MRT) …
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Perception-Action Loop for Multi-Robot Systems with Deep Learning
… loop is a fundamental concept in robotics that involves the iterative cycle of perceiving the environment and taking actions based on those perceptions. Various sensors and actuators are used in this process, and deep learning techniques have shown remarkable performance in …
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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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Analysis and implementation of distributed algorithms for multi-robot systems
Distributed algorithms for multi-robot systems rely on network communications to share information. However, the motion of the robots changes the network topology, which affects the information presented to the algorithm. For an algorithm to produce accurate output, robots need to communicate …
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Robust and Lightweight Localization and Dense Mapping for Multi-Robot Systems
… thesis, we propose novel approaches to robust multi-robot Simultaneous Localization and Mapping (SLAM). We explore multi-robot SLAM in both the centralized and distributed setting, with point-cloud or mesh-based representations to create a lightweight but dense map of the environment from …
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Fog Computing for Heterogeneous Multi-Robot Systems With Adaptive Task Allocation
… of cloud computing has finally started to affect robotics. Indeed, there have been several real-time cloud applications making their way into robotics as of late. Inherent benefits of cloud robotics include providing virtually infinite computational power and enabling collaboration of a multitude …
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Distributed, Stable Topology Control of Multi-Robot Systems with Asymmetric Interactions
Multi-robot systems have recently witnessed a swell in interest in the past few years because of their various applications such as agricultural autonomy, medical robotics, industrial and commercial automation and, search and rescue. In this thesis, we particularly investigate the behavior of …
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Market-Based Coordination and Auditing Mechanisms for Self-Interested Multi-Robot Systems
We conduct both physical robot experiments and software agent simulations for the coordinated task allocation mechanisms. The experimental results suggest that the proposed mechanisms are scalable and fault-tolerant and work in physical robot systems. We compare the proposed methods to control …
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Probabilistic Topologies with Applications in Security and Resilience of Multi-Robot Systems
Multi-robot systems (MRSs) have gained significant momentum as of late in the robotics community as they find application in tasks such as unknown environment exploration, distributed surveillance, and search and rescue. Operating robot teams in real world environments introduces a notion of …
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Mixed Modes of Autonomy for Scalable Communication and Control of Multi-Robot Systems
Multi-robot systems (MRS) offer many performance benefits over single robots for tasks that can be completed by one robot. They offer potential redundancies to the system to improve robustness and allow tasks to be completed in parallel. These benefits, however, can be quickly offset by losses in …
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A robust and efficient autonomous exploration methodology of unknown environments for multi-robot systems
Multi-robot systems can provide effective solutions for exploring and inspecting environments where it is unpractical or unsafe for humans, however, adequate coordination of the multi-robot system is a challenging initiative. A robust and efficient methodology for exploration of unknown …
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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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Trajectory planning under motion and sensing uncertainties: reachability analysis and connectivity maintenance
Recently there has been growing interest in robotic systems with several promising applications such as transportation, delivery of goods, surveillance and cinematography. Additionally, multi-robot systems are being increasingly considered for applications such as exploration, target tracking and …
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Design of environments to control robotic behavior
The improvement of robots is an ongoing and complex area of research. Whether those improvements are cost-efficiency, task completion, or versatility, the design changes are usually within the robots themselves. Although there are many applications of robots which require adaptation to an …
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TOPOLOGY-GUIDED MARKET-BASED MULTI-ROBOT TASK ALLOCATION
Multi-robot task allocation has long been a fundamental challenge in large-scale autonomous systems due to the need for coordination, scalability, and robustness in complex environments. Traditional optimization-based or learning-based ap- proaches often struggle to maintain efficiency as task …
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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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