Full metadata
Title
Multi Robot Coordination In Unstructured Environment
Description
In today’s modern world, industrial robots are utilized in hazardous working condi-tions across all industries, including the renewable energy industry. Robot control
systems and sensors receive and transmit information and data obtained from the
users. Over the last ten years, unmanned vehicles have developed into a subject of
interest for a variety of research institutions. Technology breakthroughs are redefin-
ing disaster relief, search-and-rescue(SAR) and salvage operations’ for aerial robotic
systems as well as terrestrial and marine ones. A team of collaborative robots is
required for the challenging environments, such as space construction, and disaster
relief. These robots will have to make trade-offs between mobility and capabilities
owing to cost, power, and size constraints. Task execution in numerous areas may de-
mand for robot collaboration in order to optimize team performance. An analysis of
collaborative Unmanned Aerial Vehicle(UAV) and Unmanned Ground Vehicle(UGV)
systems is one of the main components of this thesis. UAV/UGV collaborative frame-
works and methods have been presented for reaching or monitoring moving human
targets, a stated set-point for a mobile UGV robot to go to in order to approach
a dynamic target, and actions to take by the UAVs when the mobile UGV robot
is obstructed and cannot reach the target. This method encourages the target and
robot to work together more closely. This is one of the most difficult issues in search
and rescue operations since human targets are seldom found using just land robots or
aerial robots. Finally, the purpose of this thesis is to suggest that the evaluation of
the performance of a collaborative robot system may be accomplished by measuring
the mobility of robots. Even though multi-robot coordination aids in SAR opera-
tions, the findings of the study presented in this thesis conclude that the integration
of various autonomous robotic systems in unstructured environments is difficult and
that there is currently no unitary analytical model that can be used for this purpose.
Date Created
2022
Contributors
- Cherupally, SuryaKiran (Author)
- Redkar, Sangram (Thesis advisor)
- Nichols, Kevin (Committee member)
- Subramanian, Susheel Kumar Cherangara (Committee member)
- Arizona State University (Publisher)
Topical Subject
Resource Type
Extent
109 pages
Language
eng
Copyright Statement
In Copyright
Primary Member of
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.2.N.171948
Level of coding
minimal
Cataloging Standards
Note
Partial requirement for: M.S., Arizona State University, 2022
Field of study: Systems Engineering
System Created
- 2022-12-20 06:19:18
System Modified
- 2022-12-20 06:19:18
- 1 year 10 months ago
Additional Formats