ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-04152013-151851


Tipo di tesi
Tesi di laurea magistrale
Autore
SETTIMI, ALESSANDRO
URN
etd-04152013-151851
Titolo
A Subgradient Based Algorithm for Distributed Task Assignment for Heterogeneous Mobile Robots
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Pallottino, Lucia
controrelatore Pollini, Lorenzo
Parole chiave
  • assignment problem
  • compiti
  • assegnazione
  • distribuito
  • multiagente
  • sottogradiente
  • subgradient
  • distributed
  • mobile robots
  • task assignment
Data inizio appello
10/05/2013
Consultabilità
Non consultabile
Data di rilascio
10/05/2053
Riassunto
The Task Assignment Problem is a common problem in every environment that includes different units and tasks.

In this thesis we consider the problem of dynamic assigning tasks to a set of mobile and heterogeneous robots based on their ability and their costs to accomplish a task.

Moreover, the dynamics of the robot and a private cost function to be optimized together with the assignment are also taken into account.

We solve the problem through a distributed algorithm based on the subgradient method, which allows to deal with a possibly high number of tasks and robots.

A local dynamic optimal control and task assignment problem based on the information exchanged through a communication network are solved.

Different types of kinematic vehicles with different motion constraints can be taken into account due to the proposed dynamic approach.
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