Please use this identifier to cite or link to this item:
http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/7106Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.creator | Wehowsky, Andreas F. | - |
| dc.date | 2004-10-20T20:31:59Z | - |
| dc.date | 2004-10-20T20:31:59Z | - |
| dc.date | 2003-05-30 | - |
| dc.date.accessioned | 2013-10-09T02:48:23Z | - |
| dc.date.available | 2013-10-09T02:48:23Z | - |
| dc.date.issued | 2013-10-09 | - |
| dc.identifier | AITR-2003-012 | - |
| dc.identifier | http://hdl.handle.net/1721.1/7106 | - |
| dc.identifier.uri | http://koha.mediu.edu.my:8181/xmlui/handle/1721 | - |
| dc.description | Research on autonomous intelligent systems has focused on how robots can robustly carry out missions in uncertain and harsh environments with very little or no human intervention. Robotic execution languages such as RAPs, ESL, and TDL improve robustness by managing functionally redundant procedures for achieving goals. The model-based programming approach extends this by guaranteeing correctness of execution through pre-planning of non-deterministic timed threads of activities. Executing model-based programs effectively on distributed autonomous platforms requires distributing this pre-planning process. This thesis presents a distributed planner for modelbased programs whose planning and execution is distributed among agents with widely varying levels of processor power and memory resources. We make two key contributions. First, we reformulate a model-based program, which describes cooperative activities, into a hierarchical dynamic simple temporal network. This enables efficient distributed coordination of robots and supports deployment on heterogeneous robots. Second, we introduce a distributed temporal planner, called DTP, which solves hierarchical dynamic simple temporal networks with the assistance of the distributed Bellman-Ford shortest path algorithm. The implementation of DTP has been demonstrated successfully on a wide range of randomly generated examples and on a pursuer-evader challenge problem in simulation. | - |
| dc.format | 95 p. | - |
| dc.format | 3611933 bytes | - |
| dc.format | 908879 bytes | - |
| dc.format | application/postscript | - |
| dc.format | application/pdf | - |
| dc.language | en_US | - |
| dc.relation | AITR-2003-012 | - |
| dc.subject | AI | - |
| dc.subject | model-based autonomy | - |
| dc.subject | distributed planning | - |
| dc.subject | distributed constraint satisfaction | - |
| dc.title | Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks | - |
| Appears in Collections: | MIT Items | |
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.