haku: @supervisor Visala, Arto / yhteensä: 105
viite: 14 / 105
Tekijä:Fernandez Lopéz, David
Työn nimi:Towards an autonomous rescue protocol for the Marsu fleet.
Julkaisutyyppi:Diplomityö
Julkaisuvuosi:2015
Sivut:[6] + 50 s. + liitt. 36      Kieli:   eng
Koulu/Laitos/Osasto:Sähkötekniikan korkeakoulu
Oppiaine:Space Robotics and Automation   (AS3004)
Valvoja:Visala, Arto ; Gustafsson, Thomas
Ohjaaja:Leal Martinez, David
Elektroninen julkaisu: http://urn.fi/URN:NBN:fi:aalto-201509184419
Sijainti:P1 Ark Aalto  3088   | Arkisto
Avainsanat:swarm robotics
cooperating robots
autonomous robotics
energy autonomy
search and rescue
Tiivistelmä (eng):Energy autonomy is one of the main challenges in robot exploration.
The Marsu fleet, a marsupial robot society, is composed of two kinds of robots, the Marsu-bots (explorers) and the Mother-bot (a mobile charging station).
The Marsu-bots are able to connect to each other and recharge batteries if necessary.
A protocol will be implemented on the Marsu fleet so when a Marsu-bot runs out of battery another Marsu-bot in the fleet will move to its location and recharge its battery.
Such a protocol has two main tasks: first, determine how good a robot may be at solving this task, and second, create a distributed algorithm that allows the Marsu-bots to autonomously select the best one.

In this paper it will be shown that leader election algorithms can be used to implement the negotiation.
It will also be shown that, while it is imposible to accurately predict the performance of a rescue operation based on distance and battery alone, it is posible to find a cost function that allows the selection of a robot able to perform the rescue operation whithout further assitance.
Rules for defining the specific function to be used according to the scenario in which the robots are present will also be given.
ED:2015-09-27
INSSI tietueen numero: 52136
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