Tesi etd-04152013-151851 |
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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
controrelatore Pollini, Lorenzo
Parole chiave
- assegnazione
- assignment problem
- compiti
- distribuito
- distributed
- mobile robots
- multiagente
- sottogradiente
- subgradient
- 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.
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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