Spatio-temporal multi-robot routing

Chopra, Smriti

Title:

Spatio-temporal multi-robot routing

dc.contributor.advisor	Egerstedt, Magnus B.
dc.contributor.author	Chopra, Smriti
dc.contributor.committeeMember	Zhang, Fumin
dc.contributor.committeeMember	Howard, Ayanna M.
dc.contributor.committeeMember	Reveliotis, Spiridon
dc.contributor.committeeMember	Balch, Tucker
dc.contributor.department	Electrical and Computer Engineering
dc.date.accessioned	2015-06-08T18:03:05Z
dc.date.available	2015-06-08T18:03:05Z
dc.date.created	2015-05
dc.date.issued	2015-04-02
dc.date.submitted	May 2015
dc.date.updated	2015-06-08T18:03:05Z
dc.description.abstract	We analyze spatio-temporal routing under various constraints specific to multi-robot applications. Spatio-temporal routing requires multiple robots to visit spatial locations at specified time instants, while optimizing certain criteria like the total distance traveled, or the total energy consumed. Such a spatio-temporal concept is intuitively demonstrable through music (e.g. a musician routes multiple fingers to play a series of notes on an instrument at specified time instants). As such, we showcase much of our work on routing through this medium. Particular to robotic applications, we analyze constraints like maximum velocities that the robots cannot exceed, and information-exchange networks that must remain connected. Furthermore, we consider a notion of heterogeneity where robots and spatial locations are associated with multiple skills, and a robot can visit a location only if it has at least one skill in common with the skill set of that location. To extend the scope of our work, we analyze spatio-temporal routing in the context of a distributed framework, and a dynamic environment.
dc.description.degree	Ph.D.
dc.format.mimetype	application/pdf
dc.identifier.uri	http://hdl.handle.net/1853/53383
dc.language.iso	en_US
dc.publisher	Georgia Institute of Technology
dc.subject	Assignment problems
dc.subject	Combinatorial optimization
dc.subject	Distributed algorithms
dc.subject	Networked robotics
dc.subject	Vehicle routing
dc.subject	Music
dc.title	Spatio-temporal multi-robot routing
dc.type	Text
dc.type.genre	Dissertation
dspace.entity.type	Publication
local.contributor.advisor	Egerstedt, Magnus B.
local.contributor.author	Egerstedt, Magnus B.
local.contributor.corporatename	School of Electrical and Computer Engineering
local.contributor.corporatename	College of Engineering
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
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thesis.degree.level	Doctoral