A multiagent-heterogeneous approach to task execution in unstructured operating environments
| Autor: | Pereira, George Soon Ho |
|---|---|
| Přispěvatelé: | Carvalho, Jos?? Reginaldo Hughes, Barreto, Raimundo da SIlva, Santos Junior, Carlos Raimundo Pereira dos |
| Jazyk: | portugalština |
| Rok vydání: | 2020 |
| Předmět: |
Sistemas multiagente
Consenso CI??NCIA DA COMPUTA????O [CI??NCIAS EXATAS E DA TERRA] Navega????o Aut??noma em Forma????o Rob??tica - Sistemas heterog??neos Navega????o de sistemas multiagente Comunica????o ass??ncrona Campos potenciais artificiais Navega????o aut??noma Sistemas rob??ticos heterog??neos |
| Zdroj: | Biblioteca Digital de Teses e Dissertações da UFAM Universidade Federal do Amazonas (UFAM) instacron:UFAM |
| Popis: | Submitted by George Soon Ho Pereira (georgerr@hotmail.com) on 2020-08-27T15:59:15Z No. of bitstreams: 4 Mestrado___George_Soon_Ho.pdf: 2078152 bytes, checksum: 75f80088eed7f9785fce67a9c7ec583f (MD5) 357 Folha de Aprova????o - George Soon (assinado).pdf: 915985 bytes, checksum: 1c3f5667c07452d8c1fa14d846a08369 (MD5) Carta de Autoriza????o de Encaminhamento.pdf: 151195 bytes, checksum: 9f8db19738fe710f16aa46fbd56b0db7 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Approved for entry into archive by PPGI Inform??tica (secretariappgi@icomp.ufam.edu.br) on 2020-08-28T17:39:34Z (GMT) No. of bitstreams: 4 Mestrado___George_Soon_Ho.pdf: 2078152 bytes, checksum: 75f80088eed7f9785fce67a9c7ec583f (MD5) 357 Folha de Aprova????o - George Soon (assinado).pdf: 915985 bytes, checksum: 1c3f5667c07452d8c1fa14d846a08369 (MD5) Carta de Autoriza????o de Encaminhamento.pdf: 151195 bytes, checksum: 9f8db19738fe710f16aa46fbd56b0db7 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Approved for entry into archive by Divis??o de Documenta????o/BC Biblioteca Central (ddbc@ufam.edu.br) on 2020-08-28T19:00:52Z (GMT) No. of bitstreams: 4 Mestrado___George_Soon_Ho.pdf: 2078152 bytes, checksum: 75f80088eed7f9785fce67a9c7ec583f (MD5) 357 Folha de Aprova????o - George Soon (assinado).pdf: 915985 bytes, checksum: 1c3f5667c07452d8c1fa14d846a08369 (MD5) Carta de Autoriza????o de Encaminhamento.pdf: 151195 bytes, checksum: 9f8db19738fe710f16aa46fbd56b0db7 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Made available in DSpace on 2020-08-28T19:00:52Z (GMT). No. of bitstreams: 4 Mestrado___George_Soon_Ho.pdf: 2078152 bytes, checksum: 75f80088eed7f9785fce67a9c7ec583f (MD5) 357 Folha de Aprova????o - George Soon (assinado).pdf: 915985 bytes, checksum: 1c3f5667c07452d8c1fa14d846a08369 (MD5) Carta de Autoriza????o de Encaminhamento.pdf: 151195 bytes, checksum: 9f8db19738fe710f16aa46fbd56b0db7 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2020-06-26 This work evaluates the effectiveness of the combined application of the technique known as Artificial Potential Fields (APF) with the Consensus technique for heterogeneous multiagent systems composed of Unmanned Aerial Vehicles (UAV) and Unmanned Ground Vehicles (UGV}). Consensus is a technique widely used for coordinated movements in the formation of multiple agents, while the APF technique is typically used for navigation with obstacle avoidance in multi-agent systems due to its simplicity and efficiency. Despite the existence of research involving the use of APF and Consensus together, none explores the cooperation of vehicles with different movement capabilities. In this work, an architecture for multiagent systems composed of UAVs and UGVs is presented for the execution of tasks in outdoor operating environments using the Consensus technique for the formation maintenance, and the APF technique for obstacle avoidance. Simulation experiments are carried out in order to demonstrate that the use of APF and Consensus together is an effective strategy for navigation in formation of a multi-agent system composed of UAVs and UGVs, in environments where obstacles are present. Este trabalho avalia a efic??cia da aplica????o combinada da t??cnica conhecida por Campos Potenciais Artificiais (CPA) com a t??cnica de Consenso para sistemas multiagente heterog??neos compostos por Ve??culos A??reos N??o Tripulados (VANT) e Ve??culos Terrestres N??o Tripulados (VTNT). O Consenso ?? uma t??cnica muito utilizada para movimenta????es coordenadas em forma????o de m??ltiplos agentes, enquanto que a t??cnica de CPA ?? tipicamente usada para a navega????o com desvio de obst??culos em sistemas multiagentes devido ?? sua simplicidade e efici??ncia. Apesar da exist??ncia de pesquisas envolvendo o uso de CPA e Consenso em conjunto, nenhuma explora a coopera????o de ve??culos com diferentes capacidades de movimenta????o. Neste trabalho, ?? apresentada uma arquitetura para sistemas multiagente compostos por VANTs e VTNTs para a execu????o de tarefas em ambientes de opera????o de exterior usando a t??cnica de Consenso para a manuten????o da forma????o, e a t??cnica de CPA para o desvio de obst??culos. S??o realizados experimentos em simula????es com o objetivo de demonstrar que a utiliza????o de CPA e Consenso em conjunto ?? uma estrat??gia efetiva para a navega????o em forma????o de um sistema multiagentes composto por VANTs e VTNTs, em ambientes onde h?? a presen??a de obst??culos. |
| Databáze: | OpenAIRE |
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