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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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