Multi-robot allocation with Dynamically Arriving Alarms
Advisor Information
Prithviraj Dasgupta
Location
UNO Criss Library, Room 232
Presentation Type
Oral Presentation
Start Date
7-3-2014 11:00 AM
End Date
7-3-2014 11:15 AM
Abstract
We consider the problem of patrolling by a set of autonomous robots that are divided into teams; each team performing coverage within a specific region (cluster) of the environment. Within this setting, we consider a scenario where alarms go off in certain regions indicating a request for allocating additional robots in those regions by reallocating them from regions without alarms, to continue performing the patrolling task efficiently. This robot reallocation problem is non-trivial and is known to be NP-hard. In this work, we propose a stochastic allocation scheme for the robots for patrolling a region based on polynomial stochastic hybrid dynamical equations. We propose two types of controllers - a decision controller that allows the robot to determine the time for which to continue navigating within a cluster and a navigation controller to control the robot’s motion while transitioning from one region to another. We will present experimental results that verify the successful operation of the proposed algorithm with simulated and physical robots.
Multi-robot allocation with Dynamically Arriving Alarms
UNO Criss Library, Room 232
We consider the problem of patrolling by a set of autonomous robots that are divided into teams; each team performing coverage within a specific region (cluster) of the environment. Within this setting, we consider a scenario where alarms go off in certain regions indicating a request for allocating additional robots in those regions by reallocating them from regions without alarms, to continue performing the patrolling task efficiently. This robot reallocation problem is non-trivial and is known to be NP-hard. In this work, we propose a stochastic allocation scheme for the robots for patrolling a region based on polynomial stochastic hybrid dynamical equations. We propose two types of controllers - a decision controller that allows the robot to determine the time for which to continue navigating within a cluster and a navigation controller to control the robot’s motion while transitioning from one region to another. We will present experimental results that verify the successful operation of the proposed algorithm with simulated and physical robots.