Repository

Path Planning Algorithms for Robotic Agents

Author:
Agharkar, Pushkarini
Degree Supervisor:
Francesco Bullo
Place of Publication:
[Santa Barbara, Calif.]
Publisher:
University of California, Santa Barbara
Creation Date:
2016
Issued Date:
2016
Topics:
Robotics, Mechanical engineering, and Computer science
Keywords:
Algorithms
Coordination
Markov chains
Robotic path planning
Surveillance
Vehicle routing
Genres:
Online resources and Dissertations, Academic
Degree Grantor:
University of California, Santa Barbara. Mechanical Engineering
Dissertation:
Ph.D.--University of California, Santa Barbara, 2016
Description:

The focus of this work is path planning algorithms for autonomous agents. Specifically, we study problems in three areas where path planning to direct the motion of autonomous agents is critical for their performance. The first problem is a vehicle routing problem in which mobile demands appear in an environment and the task of the autonomous agent is to stop the demands from escaping the environment boundary. We first propose two fundamental performance bounds for the proposed problem. We then propose routing algorithms for this problem with performance guarantees. We examine the gap between these guarantees and the fundamental performance bounds. The second problem is a surveillance problem in a networked environment. The tasks of the autonomous surveillance agent in this problem are to (1) detect unknown intruder locations and (2) detect anomalies based on noisy measurements. We propose Markov chain based routing algorithms for the surveillance agent to achieve these goals. We parameterize these routing algorithms using a property of Markov chains called the mean first passage time. We also frame optimization problems to obtain optimal algorithms for the two surveillance tasks. The third problem studied in this work is a boundary guarding problem in which the task of a set of patrolling agents constrained to move on a ring is to achieve synchronization using only local communication. We propose a coordination algorithm to solve this problem and identify initial agent configurations under which synchronization is guaranteed.

Physical Description:
1 online resource (160 pages)
Format:
Text
Collection(s):
UCSB electronic theses and dissertations
ARK:
ark:/48907/f33f4pft
ISBN:
9781339671161
Catalog System Number:
004653412
Rights:
In Copyright
File (Download) Description
Access: Public access
Pdf 32x Agharkar_ucsb_0035D_12861.pdf (3.25 MB) Full-text thesis or dissertation