Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/16635
Title: Multi-robot cooperative surveillance in unknown environments
Authors: LIU ZHENG
Keywords: Multi-robot, Surveillance, Cooperative, Learning, Exploration, Tracking
Issue Date: 17-Dec-2008
Source: LIU ZHENG (2008-12-17). Multi-robot cooperative surveillance in unknown environments. ScholarBank@NUS Repository.
Abstract: This thesis presents a series of distributed multi-robot approaches for practical surveillance in unknown environments. The approaches cover exploration, target searching, target tracking, and localization problems. With respect to exploration and target-searching problems, distributed algorithms such as potential field-based exploration, swarm intelligence exploration, landmark-based exploration, and hop-count gradient-oriented searching, are proposed. With respect to target tracking, an artificial potential field-based intelligent tracking algorithm is proposed to enable the cooperative behavior in tracking mobile targets. In addition, due to the complexity and uncertainty associated with tracking, two reinforcement learning-based algorithms are proposed. With respect to the localization problem, an auction-based task allocation scheme is developed for a robot team to improve the hop-count-based localization. This is a simple and scalable localization technique that can be widely applied to real-world applications. The proposed surveillance algorithms are tested using both simulations and real experiments.
URI: http://scholarbank.nus.edu.sg/handle/10635/16635
Appears in Collections:Ph.D Theses (Open)

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
PhD_Thesis-Liu_Zheng.pdf1.57 MBAdobe PDF

OPEN

NoneView/Download

Page view(s)

327
checked on Dec 11, 2017

Download(s)

333
checked on Dec 11, 2017

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.