Title:
Assignment and pursuit in temporally heterogeneous robotic teams
Assignment and pursuit in temporally heterogeneous robotic teams
Author(s)
Oei, Marius Florian Bruno
Advisor(s)
Egerstedt, Magnus B.
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
Traditionally, robotic systems are built to move as fast as possible. In contrast to this, we investigate slowness and its effects on heterogeneous robotic teams inspired by biological systems. An assignment problem for static targets and a team pursuit problem for heterogeneous evaders are addressed.
The value of slowness in solving these problems optimally is examined. We further assemble the optimal teams for given problems by finding a compromise between performance and energy consumption or monetary cost. The results are validated in simulation and implemented on a robotic testbed.
Sponsor
Date Issued
2016-08-01
Extent
Resource Type
Text
Resource Subtype
Thesis