Tipo di tesi
Tesi di laurea magistrale
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
Riassunto (Italiano)
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.
