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undergraduate thesis
Planiranje misija za heterogeni robotski sustav
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:994524
Cavalli, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Cavalli, M. (2018). Planiranje misija za heterogeni robotski sustav (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:994524

Cavalli, Marko. "Planiranje misija za heterogeni robotski sustav." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:994524

Cavalli, Marko. "Planiranje misija za heterogeni robotski sustav." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:994524

Cavalli, M. (2018). 'Planiranje misija za heterogeni robotski sustav', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 06 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:994524

Cavalli M. Planiranje misija za heterogeni robotski sustav [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 November 06] Available at: https://urn.nsk.hr/urn:nbn:hr:168:994524

M. Cavalli, "Planiranje misija za heterogeni robotski sustav", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:994524

Metadata
TitlePlaniranje misija za heterogeni robotski sustav
Title (english)Mission planning for a heterogeneous robotic system
AuthorMarko Cavalli
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberAntun Ivanović (član povjerenstva)
Committee memberBarbara Arbanas (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
U ovom radu proučen je način koordinacije više autonomnih robota s različitim sposobnostima koji zajedničkim snagama obavljaju misiju. Misija je reprezentirana TÆMS strukturom stabla, koja predstavlja individualne akcije robota i međuovisnosti akcija koje zajedno tvore misiju. Korišten je GPGP decentralizirani algoritam planiranja, gdje roboti zasebno planiraju svoje lokalno viđenje misije i koordinacijom s drugim robotima zajednički stvaraju plan izvođenja misije. Algoritmi su ispitani na više letjelica s različitim sposobnostima u simulacijskom okruženju Gazebo te je predložena metoda implementacije na stvarnom sustavu.
Abstract (english)
This thesis discusses the method of coordinating multiple autonomous robots carrying out cooperative missions taking into account their unique capabilities. The mission is represented by the TÆMS structure that forms a tree-like structure of individual actions to be taken by the robots and their dependency. A GPGP decentralized planning algorithm was used, where robots independently plan their local mission view and coordinate with other robots jointly to create mission execution plans. The algorithms were tested on various drones with different capabilities in the simulation environment Gazebo and the implementation method on real systems has been proposed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:994524
Study programmeTitle: Computing
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
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Created on2019-03-13 19:32:59