Title:
Power-aware hybrid-dynamical approach to coverage control in multi-robot systems
Power-aware hybrid-dynamical approach to coverage control in multi-robot systems
Author(s)
Olsen, Mark Ryan
Advisor(s)
Egerstedt, Magnus B.
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Abstract
This thesis develops an algorithm which allows robots in a multi-robot team to optimize for battery power while performing coverage control so as to maximize the mission life of the multi-robot team. We envision a scenario where robots with limited battery supply are executing the well known Lloyd's algorithm in order to effectively cover a certain region. We perform a trade-off between the distance of a robot from the centroid of its Voronoi cell, and the energy required to traverse that distance. In order to execute this trade-off two different strategies are presented -- in one case, the reduction in cost due to coverage is compared against the energy required to traverse the distance to the centroid, and using a user-defined threshold, the decision is made. Then, a more sophisticated algorithm is used to perform the trade-off where the robots solves a switch-time optimization problem to decide whether it should move or it should stay.
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Date Issued
2018-04-24
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Thesis