Arşiv ve Dokümantasyon Merkezi
Dijital Arşivi

Developing a novel robust multi-agent task allocation algorithm for four-legged robot soccer domain

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dc.contributor Graduate Program in Computer Engineering.
dc.contributor.advisor Akın, H. Levent.
dc.contributor.author Meriçli, Çetin.
dc.date.accessioned 2023-03-16T10:02:48Z
dc.date.available 2023-03-16T10:02:48Z
dc.date.issued 2005.
dc.identifier.other CMPE 2005 M47
dc.identifier.uri http://digitalarchive.boun.edu.tr/handle/123456789/12345
dc.description.abstract Multi-robot systems become more popular since a team of relatively simple robotsmay achieve a complex goal more effectively than a single complex robot if a properdesign paradigm is used. Two main advantages of multi-robot systems over singlerobot systems are their robustness and higher performance due to parallel execution.Multi-robot systems have a wide application area from mine sweeping to planetaryexploration and from soccer playing to search and rescue operations in disaster areas.Robot soccer is a good platform to test and develop multi-robot applicationsbecause it has some physical limitations such as limited and noisy sensorial informationand noisy actuators as in the real life and it also has a highly dynamic environment.The goal of winning the game should be decomposed into a sequence of sub-goals and proper sequences of actions for achieving the subgoals should be selected and refined through execution. In order to be able to select proper actions at a time, itshould be able to evaluate the current situation of the environment so we have to havesome metrics that gives quantitative information about the environment. In this work, we first propose some metrics calculated from positions of robots and ball on the field and select a subset of these metrics that are statistically provedto be informative. Then, a task allocation algorithm is built on top of those metrics. Experimental study on both metric selection and evaluation of the designed algorithmare given.
dc.format.extent 30cm.
dc.publisher Thesis (M.S)-Bogazici University.Institute for Graduate Studies in Science and Engineering, 2005.
dc.subject.lcsh Robots -- Control systems.
dc.subject.lcsh Robotics.
dc.subject.lcsh Artificial intelligence.
dc.subject.lcsh Soccer -- Computer simulation.
dc.title Developing a novel robust multi-agent task allocation algorithm for four-legged robot soccer domain
dc.format.pages xiii, 64 leaves;


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