Dinamičko koordiniranje dodjele zadatka multi-robotskim sustavima u pametnim prostorima

master's thesis

• Title (english): Dynamic coordination of multi-robot task assignment in smart spaces
• Author: Mislav Matezović
• Mentor: Marko Švaco (mentor)
• Mentor: Marin Lujak https://orcid.org/0000-0001-8565-9194 (komentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2020-05-14, 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: problem dodjele zadataka robotskim sustavim; leksikografski algoritam; First come first serve algoritam; mađarski algoritam; aukcijski algoritam
• Keywords (english): multi-robot task allocation; lexicographic algorithm; First come first serve; Hungarian algorithm; Auction algorithm
• Language: croatian
• URN:NBN: urn:nbn:hr:235:749648
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2020-05-07 11:35:22