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master's thesis
Decentralizirano upravljanje heterogenim robotskim sustavom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. urn:nbn:hr:168:289282
Arbanas, Barbara
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Arbanas, B. (2015). Decentralizirano upravljanje heterogenim robotskim sustavom (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:289282

Arbanas, Barbara. "Decentralizirano upravljanje heterogenim robotskim sustavom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:289282

Arbanas, Barbara. "Decentralizirano upravljanje heterogenim robotskim sustavom." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:289282

Arbanas, B. (2015). 'Decentralizirano upravljanje heterogenim robotskim sustavom', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:289282

Arbanas B. Decentralizirano upravljanje heterogenim robotskim sustavom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2015 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:289282

B. Arbanas, "Decentralizirano upravljanje heterogenim robotskim sustavom", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:168:289282

Metadata
TitleDecentralizirano upravljanje heterogenim robotskim sustavom
Title (english)Decentralized control of heterogeneous robotic system
AuthorBarbara Arbanas
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
Committee memberNikola Mišković (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2015-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Pronalaženje metoda za ostvarivanje koherentnog, robusnog i prilagodljivog ponašanja skupina autonomnih robota je jedan od najvećih problema s područja robotike. U ovom radu koristi se generički pristup po uzoru na GPGP model koji omogućava uspješnu kordinaciju heterogenog sustava robota neovisno o domeni problema koji se rješava. Hijerarhijski prikaz problema jezikom T\AE MS pruža bogatu definiciju strukture zadataka te podržava definiranje složenih međuovisnosti zadataka. Proces planiranja misije pojedinih agenata ostvaren je raspoređivanjem zadataka na temelju kriterija (DTC) koji definiraju način određivanja kvalitete rasporeda i usmjeravaju postupak planiranja prema boljim rješenjima. Kako bi agenti djelovali udruženo u svrhu ispunjenja zajedničke misije, realiziran je skup posebnih koordinacijskih mehanizama.
Abstract (english)
Finding methods for achieving coherent, robust and adaptive behavior of a group of autonomous robots is one of the greatest problems in the field of robotics. This thesis employs a generic approach inspired by GPGP model that allows for successful coordination of heterogeneous robot systems regardless of the domain of the problem being solved. Hierarchical problem representation using T\AE MS framework provides rich definition of task structure and supports specification of complex task interdependence. DTC scheduler used for creating agent's local schedule copes with high-order complexity while custom tailoring a way to achieve mission goal to fit a particular client's criteria. In order to accomplish coordinated agent behavior, a special set of coordination mechanisms was developed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:289282
Study programmeTitle: Computing
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
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Created on2018-02-06 07:38:24