Title:
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Discrete Partitioning and Coverage Control for Asynchronous Gossiping Robots
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Author:
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Tuzón Márquez, Luis
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Organització d'Empreses; Università degli Studi di Padova; Ruggero, Carli |
Abstract:
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This thesis proposes distributed algorithms to automatically deploy a group of robotic agents and provide
coverage of a discretized environment represented by a graph.
The algorithms presented converge to a centroidal Voronoi partition using only pairwise gossip
communication between the agents. The communication protocols for the algorithms are Synchronous
Gossiping communication and Asynchronous Broadcast communication. Both algorithms have been
implemented by the author of the thesis in MATLAB.
This thesis proves that both algorithms make the territory ownership to converge to a pairwise-optimal
partition in finite time. Additionally, some simulations are done in MATLAB proving how the
Asynchronous Broadcast coverage algorithm reduces the amount of communications for large teams in
large environments. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots, Industrial -Robots industrials |
Rights:
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http://creativecommons.org/licenses/by-nc-sa/3.0/es/ |
Document type:
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Research/Master Thesis |
Published by:
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Universitat Politècnica de Catalunya
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