Tesi di dottorato di ricerca
Distributed Planning for Legged and Mobile Robots From single footsteps to distributed coordination with a time expanded approach
Settore scientifico disciplinare
Corso di studi
tutor Prof.ssa Pallottino, Lucia
- Cooperating Robots
- Path Planning for Multiple Mobile Robots or Agents
- Distributed Robot Systems
- Footstep Planning
- Humanoid Robotics
Data inizio appello
Data di rilascio
This thesis focuses on a generic distributed coordination framework for heterogeneous robots in two type of scenarios: smart factories and search and rescue situations.<br>First, it will be described of the software architecture developed for the Walk-Man robot and used during the Darpa Robotics Challenge. One part of the software used is a novel footstep planner capable of anytime planning and providing statically stable footsteps even in case of rough and irregular terrain.<br>The footstep planner is capable of receiving a desired position or a direction of movements, and allows to command a legged robot with the same controls of a wheeled robot.<br>Such controls are provided by a novel distributed coordination planner that uses a time-space discretization of the environment, and computes deadlock and collision free trajectories for all the robots in communication range.<br>Finally, the distributed planner is extended by using a random sampler for computing the shortest path in time--space without the limits of the discretization approach, i.e. memory and computation costs.<br>The random sampler planner is also tested with ground and flying robots in the same experiments, by using both 2D and 3D state spaces.
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