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Filtering by: Creator Kleywegt, Gerard J. Committee Member Fern, Alan

Applying hierarchical and adaptive control to coordinating simple robots

Creator:

Knudson, Matthew D.

Abstract:

Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to perform a useful task (e.g., coordination) and the low-level control problem of ensuring that each robot actually performs the correct actions to achieve its task...

Resource Type:

Masters Thesis
Navigation and coordination of autonomous mobile robots with limited resources

Creator:

Knudson, Matthew D.

Abstract:

The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well as allow operation in environments that are hostile to humans. In this dissertation we: 1) provide two adaptive navigation algorithms; 2) develop a coordination mechanism;...

Resource Type:

Dissertation
Domain-Independent Planning for Markov Decision Processes with Factored State and Action Spaces

Creator:

Raghavan, Aswin

Abstract:

Markov Decision Processes (MDPs) are the de-facto formalism for studying sequential decision making problems with uncertainty, ranging from classical problems such as inventory control and path planning, to more complex problems such as reservoir control under rainfall uncertainty and emergency response optimization for fire and medical emergencies. Most prior research...

Resource Type:

Dissertation

Full Text:

Improvement (V 0n+1, π)← T (Vn) if ||V 0n+1 − Vn|| ≤ �(1− γ)/2γ return (Vn, π) //Partial Policy Evaluation j