Thesis Details

Plánování tras multirobotického systému v dynamickém prostředí

Bachelor's Thesis Student: Plachý Dominik Academic Year: 2020/2021 Supervisor: Zbořil František, doc. Ing., Ph.D.
English title
Multirobot Path Planning in a Dynamic System
Language
Czech
Abstract

This thesis deals with the design of a path planning algorithm for a multi-robot system in order to cover a dynamic environment.   The coverage problem is solved by dividing the space into equal sized areas, of which there are at least as many as the number of agents covering the space. The agents divide the areas among themselves and resolve any collisions that occur. They are also able to react by changing their plan when they encounter an obstacle.  The thesis contains measured and commented data from running the algorithm for different parameters of the environment dynamics. The result of the work is an algorithm whose efficiency increases directly proportional to the number of agents.

Keywords

multi-agent system, agent, dynamic system, unknown environment, path planning, terrain coverage

Department
Department of Intelligent Systems FIT BUT
Degree Programme
Information Technology
Files
Status
defended, grade D
Date
15 June 2021
Reviewer
Uhlíř Václav, Ing.
Committee
Zbořil František, doc. Ing., Ph.D. (DITS FIT BUT), předseda
Hradiš Michal, Ing., Ph.D. (DCGM FIT BUT), člen
Kekely Lukáš, Ing., Ph.D. (DCSY FIT BUT), člen
Rogalewicz Adam, doc. Mgr., Ph.D. (DITS FIT BUT), člen
Veselý Vladimír, Ing., Ph.D. (DIFS FIT BUT), člen
Citation
PLACHÝ, Dominik. Plánování tras multirobotického systému v dynamickém prostředí. Brno, 2021. Bachelor's Thesis. Brno University of Technology, Faculty of Information Technology. 2021-06-15. Supervised by Zbořil František. Available from: https://www.fit.vut.cz/study/thesis/23714/
BibTeX 
@bachelorsthesis{FITBT23714,
    author = "Dominik Plach\'{y}",
    type = "Bachelor's thesis",
    title = "Pl\'{a}nov\'{a}n\'{i} tras multirobotick\'{e}ho syst\'{e}mu v dynamick\'{e}m prost\v{r}ed\'{i}",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2021,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/23714/"
}

Theses

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