자료유형  

 학위논문

Control Number  

0016935112

International Standard Book Number  

9798380417396

Dewey Decimal Classification Number  

629.8

Main Entry-Personal Name  

Senbaslar, Baskin Burak.

Publication, Distribution, etc. (Imprint  

[S.l.] : University of Southern California., 2023

Publication, Distribution, etc. (Imprint  

Ann Arbor : ProQuest Dissertations & Theses, 2023

Physical Description  

1 online resource(224 p.)

General Note  

Source: Dissertations Abstracts International, Volume: 85-04, Section: B.

General Note  

Advisor: Sukhatme, Gaurav S.

Dissertation Note  

Thesis (Ph.D.)--University of Southern California, 2023.

Restrictions on Access Note  

This item must not be sold to any third party vendors.

Summary, Etc.  

요약Multi-robot collision-free and deadlock-free navigation in cluttered environments with static and dynamic obstacles is a fundamental problem for many real-world applications. Dynamic obstacles can additionally be interactive, i.e., changing their behaviors depending on the behaviors of other objects. We focus on decision making algorithms, with a particular emphasis on decentralized real-time trajectory planning, to enable multi-robot navigation in such environments.Practicality of the developed approaches is a central focus of ours, such that we design our systems and algorithms under assumptions that can be realized in the real world. Central concerns of our treatment are i) embracing on-board compute, memory, and storage limitations of robotic systems, ii) not relying on communication for safe operation, and explicitly account for communication imperfections, iii) allowing navigation with imperfect a priori knowledge, iv) embracing controller trajectory tracking errors and accounting for them, v) working with minimal sensing and estimation capabilities, and vi) achieving highly reactive collision avoidance behavior. We introduce i) two decentralized real-time multi robot trajectory planning algorithms to allow static obstacle, interactive dynamic obstacle, and teammate avoidance, ii) a constraint generation, overconstraining, and constraint-discarding scheme to ensure inter-robot collision avoidance under asynchronous planning that is inherent in decentralized systems, which we use within one of the proposed planners, and iii) a multi-robot aware planning and control stack that allows collision-free and deadlock-free navigation in diverse types of environments, which combines three qualitatively different decision making approaches in a hierarchical manner.

Subject Added Entry-Topical Term  

Robotics.

Subject Added Entry-Topical Term  

Computer science.

Index Term-Uncontrolled  

Collision avoidance

Index Term-Uncontrolled  

Decision making

Index Term-Uncontrolled  

Multi-robot systems

Index Term-Uncontrolled  

Navigation systems

Index Term-Uncontrolled  

Safe control

Index Term-Uncontrolled  

Trajectory planning

Added Entry-Corporate Name  

University of Southern California Computer Science

Host Item Entry  

Dissertations Abstracts International. 85-04B.

Host Item Entry  

Dissertation Abstract International

Electronic Location and Access  

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Control Number  

joongbu:643650