"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, page iii.
Wunsch, Donald C.
Vian, John L.
Electrical and Computer Engineering
M.S. in Computer Engineering
University of Missouri--Rolla
viii, 45 pages
© 2007 Ryan James Meuth, All rights reserved.
Thesis - Restricted Access
Constraint programming (Computer science)
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Electronic access to the full-text of this document is restricted to Missouri S&T users. Otherwise, request this publication directly from Missouri S&T Library or contact your local library.http://merlin.lib.umsystem.edu/record=b6432126~S5
Meuth, Ryan J., "Adaptive multi-vehicle mission planning for search area coverage" (2007). Masters Theses. 44.
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