Distributed multi-robot exploration:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Düsseldorf
VDI-Verl.
2015
|
| Edition: | Als Ms. gedr. |
| Series: | Fortschrittberichte VDI
Reihe 8, Meß-, Steuerungs- und Regelungstechnik ; 1242 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XII, 142 S. Ill., graph. Darst. |
| ISBN: | 9783185242083 3185242084 |
Staff View
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| 490 | 0 | |a Berichte aus dem Institut für Automatisierungstechnik und Mechatronik der TU Darmstadt IAT | |
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Record in the Search Index
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| adam_text | V
CONTENTS
LIST OF SYMBOLS VIII
ABSTRACT XI
1 INTRODUCTION 1
1.1 AUTONOMOUS ROBOT EXPLORATION 2
1.2 PROBLEM STATEMENT AND CONTRIBUTIONS 3
1.3 OUTLINE OF THE DISSERTATION 6
2 MATHEMATICAL FOUNDATIONS 8
2.1 COMPUTATIONAL GEOMETRY 8
2.1.1 CONVEX SETS 8
2.1.2 NONCONVEX ENVIRONMENTS 10
2.1.3 REACHABILITY AND VISIBILITY 11
2.1.4 THE VORONOI PARTITION 12
2.1.5 GENERALIZED VORONOI PARTITION 14
2.2 STABILITY THEORY 15
2.2.1 DYNAMICAL SYSTEMS 15
2.2.2 LYAPUNOV FUNCTIONS 16
2.2.3 INVARIANCE PRINCIPLE 18
3 LITERATURE REVIEW 20
3.1 THE COVERAGE PROBLEM 20
3.1.1 INTRODUCTION 20
3.1.2 DISTRIBUTED OPTIMIZATION PROBLEM 22
3.1.3 A NOTE ON CHOOSING WEIGHTS 24
3.1.4 GRADIENT OF THE OBJECTIVE FUNCTION 25
3.1.5 CONTINUOUS-TIME MOTION CONTROL LAWS 27
3.1.6 PERFORMANCE FUNCTIONS 28
3.1.7 STABILITY ANALYSIS 32
3.1.8 FROM STATIC TO DYNAMIC COVERAGE 33
3.1.9 COVERAGE OF NONCONVEX ENVIRONMENTS 34
HTTP://D-NB.INFO/1077824556
VI
CONTENTS
3.2 MULTI-ROBOT EXPLORATION 38
3.2.1 SIMULTANEOUS LOCALIZATION AND MAPPING 39
3.2.2 OBJECTIVE FUNCTIONS FOR A SINGLE ROBOT 40
3.2.3 ON COORDINATING MULTIPLE ROBOTS 41
3.2.4 COORDINATION BY PARTITIONING THE ENVIRONMENT ... 42
3.3 DISCUSSION 43
3.3.1 GRADIENT-BASED MOTION CONTROL 43
3.3.2 A NOTE ON PERFORMANCE MEASURES 44
4 FROM COVERAGE TO DISCOVERAGE 45
4.1 PRELIMINARIES AND NOTATION 45
4.2 CENTROIDAL SEARCH-BASED DISCOVERAGE 46
4.2.1 MODIFYING THE DENSITY FUNCTION 47
4.2.2 BUILDING THE PARTIAL DERIVATIVE 50
4.2.3 DISCOVERAGE IN CONVEX ENVIRONMENTS 51
4.2.4 DISCOVERAGE IN NONCONVEX ENVIRONMENTS 60
4.2.5 FALLBACK STRATEGY WHEN USING MULTIPLE ROBOTS ... 73
4.2.6 POSSIBLE EXTENSIONS TO THE VEHICLE DYNAMICS .... 76
4.3 ORIENTATION-BASED DISCOVERAGE 77
4.3.1 INTRODUCING ROBOT ORIENTATIONS 78
4.3.2 CONTINUOUS-TIME CONTROL LAW 80
4.3.3 IMPACT OF THE ANGULAR COMPONENT 81
4.3.4 IMPACT OF THE DISTANCE COMPONENT 85
4.3.5 HANDLING NONCONVEX ENVIRONMENTS 87
4.3.6 BEHAVIOR OF MULTIPLE ROBOTS 90
4.3.7 VARYING THE VEHICLE DYNAMICS 93
5 SIMULATION RESULTS AND LAB EXPERIMENTS 94
5.1 THE TIME-OPTIMAL CASE 94
5.2 DISCRETE-TIME MOTION CONTROL LAWS 96
5.2.1 MULTI-ROBOT EXPLORATION STRATEGIES 96
5.2.2 FALLBACK STRATEGY 98
5.3 ENVIRONMENTAL AND ROBOTIC SETUP 99
5.4 STATISTICAL EVALUATION 101
5.4.1 RESULTS IN THE CONVEX ENVIRONMENT 102
5.4.2 RESULTS IN THE NONCONVEX ALLOWABLE ENVIRONMENT . . 106
5.5 EXPERIMENTAL RESULTS WITH E-PUCK ROBOTS 109
6 DISCUSSION 112
6.1 SIMULATION RESULTS AND LAB EXPERIMENTS 113
CONTENTS VII
6.2 PERFORMANCE ANALYSIS 114
6.3 CONVERGENCE PROPERTIES .115
6.4 OPTIMALITY OF SPACE PARTITIONS 116
6.5 HIGHER STATE SPACE DIMENSIONS 116
6.6 MAP REPRESENTATION 117
6.7 DISCRETE-TIME SYSTEMS 117
7 CONCLUSION 119
7.1 SUMMARY 119
7.2 FUTURE RESEARCH 120
A COMPUTATIONAL GEOMETRY 123
A.L K-MEANS CLUSTERING AND COVERAGE 123
A.2 DISTRIBUTED COMPUTATION OF THE VORONOI PARTITION 124
A.3 SOFTWARE 127
B HARDWARE SPECIFICATIONS 128
B.L THE E-PUCK ROBOT 128
PUBLICATIONS AND PATENTS 129
BIBLIOGRAPHY 132
|
| any_adam_object | 1 |
| author | Haumann, Dominik 1982- |
| author_GND | (DE-588)1074778081 |
| author_facet | Haumann, Dominik 1982- |
| author_role | aut |
| author_sort | Haumann, Dominik 1982- |
| author_variant | d h dh |
| building | Verbundindex |
| bvnumber | BV042943914 |
| classification_rvk | ZQ 6230 |
| ctrlnum | (OCoLC)915159614 (DE-599)BSZ446225991 |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
| format | Thesis Book |
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| spelling | Haumann, Dominik 1982- Verfasser (DE-588)1074778081 aut Distributed multi-robot exploration Dominik Haumann Als Ms. gedr. Düsseldorf VDI-Verl. 2015 XII, 142 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Fortschrittberichte VDI : Reihe 8, Meß-, Steuerungs- und Regelungstechnik 1242 Berichte aus dem Institut für Automatisierungstechnik und Mechatronik der TU Darmstadt IAT Zugl.: Darmstadt, Techn. Univ., Diss., 2015 SLAM-Verfahren (DE-588)7842968-7 gnd rswk-swf Umweltmodell Informatik (DE-588)4250471-5 gnd rswk-swf Mehrrobotersystem (DE-588)4734038-1 gnd rswk-swf Geometrische Optimierung (DE-588)4156718-3 gnd rswk-swf Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf Navigation (DE-588)4041457-7 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Mehrrobotersystem (DE-588)4734038-1 s Autonomer Roboter (DE-588)4304075-5 s Navigation (DE-588)4041457-7 s Bahnplanung (DE-588)4267628-9 s SLAM-Verfahren (DE-588)7842968-7 s Umweltmodell Informatik (DE-588)4250471-5 s Geometrische Optimierung (DE-588)4156718-3 s Kollisionsschutz (DE-588)4199255-6 s DE-604 Fortschrittberichte VDI Reihe 8, Meß-, Steuerungs- und Regelungstechnik ; 1242 (DE-604)BV000882482 1242 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028370297&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Haumann, Dominik 1982- Distributed multi-robot exploration Fortschrittberichte VDI SLAM-Verfahren (DE-588)7842968-7 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Geometrische Optimierung (DE-588)4156718-3 gnd Autonomer Roboter (DE-588)4304075-5 gnd Kollisionsschutz (DE-588)4199255-6 gnd Navigation (DE-588)4041457-7 gnd Bahnplanung (DE-588)4267628-9 gnd |
| subject_GND | (DE-588)7842968-7 (DE-588)4250471-5 (DE-588)4734038-1 (DE-588)4156718-3 (DE-588)4304075-5 (DE-588)4199255-6 (DE-588)4041457-7 (DE-588)4267628-9 (DE-588)4113937-9 |
| title | Distributed multi-robot exploration |
| title_auth | Distributed multi-robot exploration |
| title_exact_search | Distributed multi-robot exploration |
| title_full | Distributed multi-robot exploration Dominik Haumann |
| title_fullStr | Distributed multi-robot exploration Dominik Haumann |
| title_full_unstemmed | Distributed multi-robot exploration Dominik Haumann |
| title_short | Distributed multi-robot exploration |
| title_sort | distributed multi robot exploration |
| topic | SLAM-Verfahren (DE-588)7842968-7 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Geometrische Optimierung (DE-588)4156718-3 gnd Autonomer Roboter (DE-588)4304075-5 gnd Kollisionsschutz (DE-588)4199255-6 gnd Navigation (DE-588)4041457-7 gnd Bahnplanung (DE-588)4267628-9 gnd |
| topic_facet | SLAM-Verfahren Umweltmodell Informatik Mehrrobotersystem Geometrische Optimierung Autonomer Roboter Kollisionsschutz Navigation Bahnplanung Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028370297&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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