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Author:Leitner, Jürgen
Title:Multi-robot formations for area coverage in space applications
Publication type:Master's thesis
Publication year:2009
Pages:99 s. + liitt.      Language:   eng
Department/School:Automaatio- ja systeemitekniikan laitos
Main subject:Automaatiotekniikka   (Aut-84)
Supervisor:Halme, Aarne ; Hyyppä, Kalevi
Instructor:Nakasuka, Shinichi ; Taipalus, Tapio
Electronic version URL: http://urn.fi/URN:NBN:fi:aalto-201203071284
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto  5097   | Archive
Keywords:space robotics
multi-robot cooperation
area coverage
machine learning
simulation
formation control
Learning Classifer Systems
LCS
Abstract (eng): This thesis presents two algorithmic implementations of multi-robot formation control for the area coverage problem.
It uses a space exploration scenario, with a marsupial robot society, for tasks like mapping, habitat construction, etc.
The solutions are though applicable to a wider range of applications, since area coverage is seen as one of the canonical problems in multi-robot application.

Starting with an overview of multi-robot systems in space applications, both currently in use and planned for the near future, it then presents the two algorithms and their implementation in C++: (i) a vector force based implementation and (ii) a machine learning approach.
The second is based on an organizational-learning oriented classifier system (OCS) introduced by Takadama an evolution of Holland's learning classifier system (LCS).
To ease the development, testing and evaluation of the control algorithms a simulator, named SMRTCTRL, was implemented during a 3 months research stay at the University of Tokyo.

The vector-based control approach was tested using a multi-robot society of LEGO Mindstorms Robots and a comparison of the two algorithm was done with the help of the simulator.
ED:2009-09-07
INSSI record number: 38296
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