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COALITION FORMATION FOR MULTI-ROBOT SYSTEMS
by
Charles Su
A Thesis Presented to the
FACULTY OF THE GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
MASTER OF SCIENCE
(COMPUTER SCIENCE)
August 2007
Copyright 2007 Charles Su
Object Description
| Title | Coalition formation for multi-robot systems |
| Author | Su, Charles |
| Author email | charlees@usc.edu |
| Degree | Master of Science |
| Document type | Thesis |
| Degree program | Computer Science (Robotics & Automation) |
| School | Viterbi School of Engineering |
| Date defended/completed | 2007-08-01 |
| Date submitted | 2007 |
| Restricted until | Unrestricted |
| Date published | 2007-08-08 |
| Advisor (committee chair) | Koenig, Sven |
| Advisor (committee member) |
Sukhatme, Gaurav S. Lerman, Kristina |
| Abstract | Coalition formation has become a relatively important subset of multi-robot task allocation of heterogeneous teams. The problem involves allocating subsets of a team, called a coalition, to the subtasks within tasks. In this work, tasks come from complex domains in which there exist many interdependencies between the subtasks. Many aspects of coalition formation in this setting will be studied with the goal of deciphering the algorithmic and system design necessary to achieve both good performance and accurate results.; Coalition formation for heterogeneous multi-robot systems is primarily an algorithmic problem that has already been approached in multiagent systems and robotics. The research thus far has not fully addressed complete and optimal allocation of highly interdependent multi-robot tasks, the major goal of this work. However many ideas from previous work can be borrowed and extended. Constraint satisfaction provides a well-studied framework for this investigation and therefore the selection and application of their techniques to multi-robot allocation are studied to produce an optimal polynomial time algorithm. Following this is the identification and analysis of other methods such as constraint optimization methods like branch and bound, as well as satisfaction methods including constraint propagation, and a novel algorithm that uses divide and conquer to reduce the runtime complexity.; The other side of this work regards the modeling of the problem and the design of the system. The definition of the problem's assumptions and goals can be used to find reasonable heuristics that reduce the space prior to and during the search. Design of the utility function can also hamper or benefit the performance of the allocation algorithm. Specific modeling decisions such as the recognition of classes within the team of robots can be combined with the constraint satisfaction algorithm to allow for tree decomposition to further reduce the problem complexity.; In the end this work provides a survey of the constraint satisfaction techniques available for solving complex problems such as search and rescue, viewed from the ground up. The viewpoint aids in highlighting the delicate relationship between problem assumptions, modeling, algorithmic design, and system design, which can all be exploited specifically to help find higher quality solutions more efficiently for constraint satisfaction problems in complex domains. |
| Keyword | multi-robot coordination |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Type | texts |
| Legacy record ID | usctheses-m778 |
| Rights | Su, Charles |
| Repository name | Libraries, University of Southern California |
| Repository address | Los Angeles, California |
| Repository email | http://www.usc.edu/isd/libraries/services/ask_a_librarian/email/ |
| Filename | etd-Su-20070808 |
| Archival file | uscthesesreloadpub_Volume51/etd-Su-20070808.pdf |
Description
| Title | Page 1 |
| Full text | COALITION FORMATION FOR MULTI-ROBOT SYSTEMS by Charles Su A Thesis Presented to the FACULTY OF THE GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree MASTER OF SCIENCE (COMPUTER SCIENCE) August 2007 Copyright 2007 Charles Su |
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