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dc.contributor.advisor Kavraki, Lydia E.
dc.creatorGrady, Devin Kieber
dc.date.accessioned 2012-07-03T22:49:54Z
dc.date.available 2012-07-03T22:49:54Z
dc.date.created 2011-04
dc.date.issued 2011
dc.identifier.citation Grady, Devin Kieber. "Unsynchronized Distributed Motion Planning with Safety Guarantees under Second-Order Dynamics." (2011) Master’s Thesis, Rice University. https://hdl.handle.net/1911/64443.
dc.identifier.urihttps://hdl.handle.net/1911/64443
dc.description.abstract Robots are increasingly found to operate together in the same environment where they must coordinate their motion. Such an operation is simple if the motion is quasi-static. Under second-order dynamics, the problem becomes challenging even for a known environment. Planning must guarantee safety by ensuring collision-free paths for the considered period by not bringing the robot to states where collisions are inevitable. This can be addressed with communication among robots, but it becomes complicated when the replanning cycles of different robots are not synchronized and robots make planning decisions at different times. This thesis shows how to guarantee safety for communicating second-order vehicles, whose replanning rates do not coincide, through a distributed motion planning framework without a global time reference. The method is evaluated through simulation where each robot has its own address space, and communicates with message passing. A proof of safety is presented, and simulation results are used to investigate performance of the framework.
dc.format.extent 72 pp
dc.format.mimetype application/pdf
dc.language.iso eng
dc.subjectComputer science
dc.title Unsynchronized Distributed Motion Planning with Safety Guarantees under Second-Order Dynamics
dc.identifier.digital GradyD
dc.type.genre Thesis
dc.type.material Text
thesis.degree.department Computer Science
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science


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