prikaz prve stranice dokumenta Planiranje i koordinacija heterogenog višerobotskog sustava u zadatku izgradnje zida
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master's thesis
Planiranje i koordinacija heterogenog višerobotskog sustava u zadatku izgradnje zida
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:838002
Križmančić, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Križmančić, M. (2019). Planiranje i koordinacija heterogenog višerobotskog sustava u zadatku izgradnje zida (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:838002

Križmančić, Marko. "Planiranje i koordinacija heterogenog višerobotskog sustava u zadatku izgradnje zida." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:838002

Križmančić, Marko. "Planiranje i koordinacija heterogenog višerobotskog sustava u zadatku izgradnje zida." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:838002

Križmančić, M. (2019). 'Planiranje i koordinacija heterogenog višerobotskog sustava u zadatku izgradnje zida', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:838002

Križmančić M. Planiranje i koordinacija heterogenog višerobotskog sustava u zadatku izgradnje zida [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:838002

M. Križmančić, "Planiranje i koordinacija heterogenog višerobotskog sustava u zadatku izgradnje zida", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:838002

Metadata
TitlePlaniranje i koordinacija heterogenog višerobotskog sustava u zadatku izgradnje zida
Title (english)Planning and coordination of heterogeneous multi-robot system in the task of building a wall
AuthorMarko Križmančić
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-07-18, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Za heterogeni sustav koji se sastoji od jednog mobilnog robota i tri bespilotne letjelice projektirano je rješenje za planiranje i koordinaciju misije izgradnje zida predefinirane strukture. Zid se sastoji od cigli različitih veličina i oblika od kojih je neke potrebno prenijeti s više robota istovremeno. Problem izgradnje zida strukturiran je TÆMS jezikom, a planiranje i koordinacija heterogenog sustava temelji se na generičkom pristupu po uzoru na GPGP model. Zadaci se raspoređuju pomoću genetskog algoritma koji nastoji optimizirati ukupnu kvalitetu, trajanje i trošak misije. Razvijeno rješenje validirano je u realističnom simulacijskom okruženju Gazebo.
Abstract (english)
A solution for planning and coordinating the mission of constructing a wall with predefined structure is designed for a heterogeneous system consisting of one mobile robot and three unmanned aerial vehicles. The wall consists of bricks of various weights and sizes, some of which need to be transported with multiple robots at the same time. Wall construction problem is structured using TÆMS language and planning and coordination of the heterogeneous system is implemented with a generic approach based on GPGP model. Tasks are scheduled using a genetic algorithm that seeks to optimize the overall quality, duration and cost of the mission. The developed solution is validated in the realistic Gazebo simulation environment.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:838002
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 on2020-01-07 19:26:09