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dc.contributor.authorPremkumar, Aravind Preshanten_US
dc.date.accessioned2017-09-09T08:00:26Z
dc.date.available2017-09-09T08:00:26Z
dc.date.issued2017-09-08
dc.identifier.othervt_gsexam:12666en_US
dc.identifier.urihttp://hdl.handle.net/10919/78847
dc.description.abstractWe present an algorithm to explore an orthogonal polygon using a team of p robots. This algorithm combines ideas from information-theoretic exploration algorithms and computa- tional geometry based exploration algorithms. The algorithm is based on a single-robot polygon exploration algorithm and a tree exploration algorithm. We show that the explo- ration time of our algorithm is competitive (as a function of p) with respect to the offline optimal exploration algorithm. We discuss how this strategy can be adapted to real-world settings to deal with noisy sensors. In addition to theoretical analysis, we investigate the performance of our algorithm through simulations for multiple robots and experiments with a single robot.en_US
dc.format.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsThis item is protected by copyright and/or related rights. Some uses of this item may be deemed fair and permitted by law even without permission from the rights holder(s), or the rights holder(s) may have licensed the work for use under certain conditions. For other uses you need to obtain permission from the rights holder(s).en_US
dc.subjectRoboticsen_US
dc.subjectMulti-robot Explorationen_US
dc.titleCompetitive Algorithms and System for Multi-Robot Exploration of Unknown Environmentsen_US
dc.typeThesisen_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.description.degreeMSen_US
thesis.degree.nameMSen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineComputer Engineeringen_US
dc.contributor.committeechairTokekar, Pratapen_US
dc.contributor.committeememberStilwell, Daniel Jen_US
dc.contributor.committeememberRaghvendra, Sharathen_US


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