Masters Theses

Title

Adaptive multi-vehicle mission planning for search area coverage

Author

Ryan J. Meuth

Abstract

"This thesis explores the problem of optimizing the behavior of a swarm of heterogeneous agents executing a search area coverage task. Each agent is equipped with a sensing apparatus and the swarm must collectively explore a partially occluded environment to obtain a required probability of observation for each location in the search area. The problem is further complicated with the introduction of dynamic agent and environmental properties making adaptability a necessary requirement. Novel methods for search space discretization and task allocation are presented. Additionally modifications are made to conventional path optimization methods to account for the mobility characteristics of an agent following a path. A mission planning architecture is presented that incorporates these techniques to provide adaptive multi-vehicle search coverage optimization for heterogeneous vehicles"--Abstract, leaf iii.

Advisor(s)

Wunsch, Donald C.

Committee Member(s)

Nelson, Michael
Vian, John L.

Department(s)

Electrical and Computer Engineering

Degree Name

M.S. in Computer Engineering

Sponsor(s)

Boeing Company. Boeing Phantom Works

Publisher

University of Missouri--Rolla

Publication Date

Spring 2007

Pagination

viii, 45 leaves

Note about bibliography

Includes bibliographical references (pages 54-56).

Rights

© 2007 Ryan James Meuth, All rights reserved.

Document Type

Thesis - Citation

File Type

text

Language

English

Library of Congress Subject Headings

Constraint programming (Computer science)
Mathematical optimization
Swarm intelligence

Thesis Number

T 9308

Print OCLC #

237051551

Link to Catalog Record

Full-text not available: Request this publication directly from Missouri S&T Library or contact your local library.

http://laurel.lso.missouri.edu/record=b6432126~S5

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