Heterogeneous robot coordination in unstructured and space environments

Thumbnail Image

Files

master_Döhmer_Marc-Lorenz_Alexander_2024.pdf (2.37 MB)

URL

Journal Title

Journal ISSN

Volume Title

School of Electrical Engineering | Master's thesis
Unless otherwise stated, all rights belong to the author. You may download, display and print this publication for Your own personal use. Commercial use is prohibited.

Authors

Date

2024-09-29

Department

Major/Subject

Autonomous Systems

Mcode

Degree programme

Master's Programme in ICT Innovation

Language

en

Pages

34

Series

Abstract

Space environments are becoming increasingly more relevant as they hold considerable resources. Past missions onto planets such as Mars used very sophisticated single rovers, these however provide a single point of mission failure. It is therefore valuable to look at Multi Robot Systems (MRS) as an alternative. Especially teams of heterogeneous robots are relevant as they provide a good trade-off between robustness and specialised capabilities. In this paper research about heterogeneous robot coordination in unstructured and space environments was conducted. The main goal was to determine the optimal team composition for a chosen mission scenario to achieve a short mission time and low workload for individual robots in a team. A framework was developed to simulate different mission scenarios with heterogeneous teams comprised of different robots. A series of experiments were carried out, which analysed the effect of increasing the number of robots in a robotic team based on the Weakest Link Assumption introduced in this work. It was found that the reduction in mission time when adding more robots to a team where the tasks are split does not seem to behave linear and might suddenly flatten off or that he mission time would increase drastically due to an increased number of incidents between robots. Future work could focus on understanding this behavior in more detail.

Description

Supervisor

Pajarinen, Joni

Thesis advisor

Laine, Mickael

Keywords

heterogeneous robots, multi robot systems, unstructured environments, space environments, planning, task allocation

Other note

Citation

Permanent link to this item

https://urn.fi/URN:NBN:fi:aalto-202411217258

Collections

[dipl] Sähkötekniikan korkeakoulu / ELEC