Competitive Algorithms and System for Multi-Robot Exploration of Unknown Environments

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dc.contributor.authorPremkumar, Aravind Preshanten
dc.contributor.committeechairTokekar, Pratapen
dc.contributor.committeememberStilwell, Daniel J.en
dc.contributor.committeememberRaghvendra, Sharathen
dc.contributor.departmentElectrical and Computer Engineeringen
dc.date.accessioned2017-09-09T08:00:26Zen
dc.date.available2017-09-09T08:00:26Zen
dc.date.issued2017-09-08en
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 computational geometry based exploration algorithms. The algorithm is based on a single-robot polygon exploration algorithm and a tree exploration algorithm. We show that the exploration 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
dc.description.degreeMaster of Scienceen
dc.format.mediumETDen
dc.identifier.othervt_gsexam:12666en
dc.identifier.urihttp://hdl.handle.net/10919/78847en
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectRoboticsen
dc.subjectMulti-robot Explorationen
dc.titleCompetitive Algorithms and System for Multi-Robot Exploration of Unknown Environmentsen
dc.typeThesisen
thesis.degree.disciplineComputer Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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