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Path Planning for Variable Scrutiny Multi-Robot Coverage

Bradner, Kevin M
http://rave.ohiolink.edu/etdc/view?acc_num=case1578915876868832

Abstract Details

2020, Master of Sciences, Case Western Reserve University, EECS - Computer and Information Sciences.
Robotic coverage problems task one or more robots with the goal of visiting every location in a region. Algorithms that can perform this kind of task in a timeefficient manner are useful for purposes such as mapping, cleaning, or inspection. This work considers a multi-agent robotic coverage problem in which the shape of the region to be explored is known in advance, but additional information and challenges are discovered during task performance. A software package is created to simulate such a scenario, generate virtual environments to be covered, and interface with policy programs that command the robots. Simple path planning algorithms are developed, and their performance on this task is evaluated. Next, adaptive variants of these algorithms are developed to respond to events and information encountered during task execution. It is shown that the adaptive algorithms are more robust and better performing than their more basic counterparts.
Wyatt Newman, PhD (Committee Chair)
Murat Cavusoglu, PhD (Committee Member)
Soumya Ray, PhD (Committee Member)
102 p.
Computer Science
Robotics, Robotic Coverage, Path Planning, Spanning Trees, Multi-Robot Algorithms

Recommended Citations

Citations

  • Bradner, K. M. (2020). Path Planning for Variable Scrutiny Multi-Robot Coverage [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1578915876868832

    APA Style (7th edition)

  • Bradner, Kevin. Path Planning for Variable Scrutiny Multi-Robot Coverage. 2020. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1578915876868832.

    MLA Style (8th edition)

  • Bradner, Kevin. "Path Planning for Variable Scrutiny Multi-Robot Coverage." Master's thesis, Case Western Reserve University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1578915876868832

    Chicago Manual of Style (17th edition)

case1578915876868832
370
© 2020, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.