Independent activity and local opportunity for dynamic robot team management in dangerous domains
| dc.contributor.author | Fiawoo, Seth | |
| dc.contributor.examiningcommittee | Scuse, David (Computer Science) McNeill, Dean (Electrical and Computer Engineering) | en_US |
| dc.contributor.supervisor | Anderson, John (Computer Science) | en_US |
| dc.date.accessioned | 2019-09-11T13:36:00Z | |
| dc.date.available | 2019-09-11T13:36:00Z | |
| dc.date.issued | 2019 | en_US |
| dc.date.submitted | 2019-07-21T22:06:10Z | en |
| dc.degree.discipline | Computer Science | en_US |
| dc.degree.level | Master of Science (M.Sc.) | en_US |
| dc.description.abstract | Dangerous domains are a challenge for teams of heterogeneous robots, since robot losses may involve the loss of particular skills that might be rare in the domain. Previous research has resulted in a framework that allows teams to rebalance and recruit from the environment. However, there is currently no consideration of situations where agents may at times provide more useful work globally by not joining a team, or situations where it might be discovered that types of work might be associated with a given locality. My thesis extends this framework to give agents the ability to refuse to join teams and work for times on their own, by considering current satisfaction in the use of their skills, the likely rarity of their skills, and the distribution of places those skills are used in the environment. I examine this work in a simulated Urban Search and Rescue domain. My results show that in scenarios where a robot’s special skills are rare and tasks requiring those skills are only available at a few fixed locations in the environment, a robot is more useful if it suspends its team commitment to make itself available to all teams. | en_US |
| dc.description.note | October 2019 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1993/34202 | |
| dc.language.iso | eng | en_US |
| dc.rights | open access | en_US |
| dc.subject | Robotics | en_US |
| dc.subject | Multi-Robot Systems | en_US |
| dc.subject | Urban Search and Rescue | en_US |
| dc.subject | Heterogeneous Robot Teams | en_US |
| dc.subject | Robot Satisfaction | en_US |
| dc.subject | Rare Skills | en_US |
| dc.subject | Recruitment | en_US |
| dc.title | Independent activity and local opportunity for dynamic robot team management in dangerous domains | en_US |
| dc.type | master thesis | en_US |