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master's thesis
Modeliranje ponašanja heterogenog robotskog sustava probabilističkim metodama
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:928621
Družetić, Nina
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Družetić, N. (2018). Modeliranje ponašanja heterogenog robotskog sustava probabilističkim metodama (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:928621

Družetić, Nina. "Modeliranje ponašanja heterogenog robotskog sustava probabilističkim metodama." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:928621

Družetić, Nina. "Modeliranje ponašanja heterogenog robotskog sustava probabilističkim metodama." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:928621

Družetić, N. (2018). 'Modeliranje ponašanja heterogenog robotskog sustava probabilističkim metodama', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 20 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:928621

Družetić N. Modeliranje ponašanja heterogenog robotskog sustava probabilističkim metodama [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 May 20] Available at: https://urn.nsk.hr/urn:nbn:hr:168:928621

N. Družetić, "Modeliranje ponašanja heterogenog robotskog sustava probabilističkim metodama", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:928621

Metadata
TitleModeliranje ponašanja heterogenog robotskog sustava probabilističkim metodama
Title (english)Probabilistic planning for behavior-based heterogeneous robotic system
AuthorNina Družetić
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-12, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Cilj ovog rada je implementacija sustava modeliranja ponašanja heterogenog robotskog sustava zasnovanog na djelomično osmotrivim Markovljevim procesima odlučivanja (POMDP). Nakon ulaska u nepoznati zatvoreni prostor, heterogeni robotski sustav prima opažanja o stanju prostorija koristeći senzor zvuka te klasificira prijateljske i neprijateljske jedinice unutar istih. Nakon klasifikacija jedinica, provode se akcije izbjegavanja prostorije, ukoliko se radi o neprijateljskoj jedinici ili ulaska u prostoriju ukoliko je klasificirana prijateljska jedinica. Algoritam je implementiran koristeći Python i Robotski operacijski sustav(ROS), a simulacije su izvedene koristeći Gazebo. Simulacijski eksperimenti pokazuju vrlo dobro ponašanje sustava u različitim situacijama pa se može zaključiti da model daje zadovoljavajuće rezultate.
Abstract (english)
This thesis implements probabilistic planning for heterogeneous robotic system using partially observable Markov decision processes (POMDP). After entering an unknown closed space, heterogeneous robotic system uses sound sensor to get observations of room's state and classifies hostages from terrorists. If there are terrorists in the room, actions that avoid that room are made. In other cases, when there are hostages in the room, system takes actions to enter the room. Algorithm was implemented using Python and Robot Operating System (ROS), and tested with Gazebo. To conclude, simulations show promising results in different scenarios and model gives satisfactory results.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:928621
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2019-03-13 20:02:33