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master's thesis
Dinamičko koordiniranje dodjele zadatka multi-robotskim sustavima u pametnim prostorima
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. urn:nbn:hr:235:749648
Matezović, Mislav
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Matezović, M. (2020). Dinamičko koordiniranje dodjele zadatka multi-robotskim sustavima u pametnim prostorima (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:749648

Matezović, Mislav. "Dinamičko koordiniranje dodjele zadatka multi-robotskim sustavima u pametnim prostorima." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:749648

Matezović, Mislav. "Dinamičko koordiniranje dodjele zadatka multi-robotskim sustavima u pametnim prostorima." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:749648

Matezović, M. (2020). 'Dinamičko koordiniranje dodjele zadatka multi-robotskim sustavima u pametnim prostorima', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 23 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:749648

Matezović M. Dinamičko koordiniranje dodjele zadatka multi-robotskim sustavima u pametnim prostorima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2020 [cited 2024 November 23] Available at: https://urn.nsk.hr/urn:nbn:hr:235:749648

M. Matezović, "Dinamičko koordiniranje dodjele zadatka multi-robotskim sustavima u pametnim prostorima", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:235:749648

Metadata
TitleDinamičko koordiniranje dodjele zadatka multi-robotskim sustavima u pametnim prostorima
Title (english)Dynamic coordination of multi-robot task assignment in smart spaces
AuthorMislav Matezović
MentorMarko Švaco (mentor)
MentorMarin Lujak https://orcid.org/0000-0001-8565-9194 (komentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2020-05-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Mobilni roboti mogu asistirati osoblju bolnice ili doma za starije osobe obavljanjem zadataka poput donošenja lijekova ili hrane. Za njihov uspješan rad potrebno je pravilno raspodijeliti zadatke između njih. Kroz ovaj rad pokazat će se problem dodjele zadataka robotskim sustavima. Zatim će se pokazati četiri algoritma za rješavanje problema dodjele zadataka. Prvo će se primijeniti leksikografski algoritam koji nema metodu odlučivanja, već leksikografski dodjeljuje zadatke. Nakon toga, će se primijeniti First come first serve algoritam koji dodjeljuje zadatke uzimajući u obzir minimalne udaljenosti dostupnih zadataka. Potom, će se primijeniti mađarski algoritam koji optimizira ukupne udaljenosti. Ova tri algoritma primjenjivat će potpunu komunikaciju. Kako bi se prikazao utjecaj nepotpune komunikacije koristi će se aukcijski algoritam. Prikazat će se kako vrijednosti komunikacijskog dometa i broja robota utječu na rezultate.
Abstract (english)
Mobile robots can assist workers in hospitals or senior homes, by performing simple tasks like bringing people food or medicine. For their performance there needs to be a proper way of distributing tasks among them. In this thesis a multi-robot task assignment (MRTA) problem will be explained. First algorithm for solving task assignment problem will be lexicographic algorithm. Lexicographic algorithm assigns task using lexicographic method. After that First come first serve method will be used to assign tasks. To achieve optimal results Hungarian algorithm will be used. Previously mentioned algorithms use complete communication between mobile robots. To show how incomplete communication affects results Auction algorithm will be used. We will show how increase in communication range and number of mobile robots affects the results.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:749648
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2020-05-07 11:35:22