Hierarchical decision-making in coordinated multi-robot networks
Abstract/Contents
- Abstract
- Autonomous robots are deployed to solve a variety of tasks in a wide range of challenging and uncertain environments. Many of the tasks, such as urban package delivery and planetary terrain exploration, involve connected networks of robots coordinating with each other. This thesis presents a comprehensive decision-making framework for controlling such large coordinated multi-robot networks. We decouple the many complex intersecting challenges of our overall question and address them at different levels in a hierarchy. To solve the range of problems covered in this thesis, we draw upon theoretical results from combinatorial optimization, heuristic search, and sequential decision-making under uncertainty. We extend theory to application through state-of-the-art practical techniques for multi-agent methods. On a wide variety of simulations with real-world data, our algorithms compute high-quality decisions for large numbers of agents and tasks.
Description
| Type of resource | text |
|---|---|
| Form | electronic resource; remote; computer; online resource |
| Extent | 1 online resource. |
| Place | California |
| Place | [Stanford, California] |
| Publisher | [Stanford University] |
| Copyright date | 2021; ©2021 |
| Publication date | 2021; 2021 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Author | Choudhury, Shushman |
|---|---|
| Degree supervisor | Bohg, Jeannette, 1981- |
| Degree supervisor | Kochenderfer, Mykel J, 1980- |
| Thesis advisor | Bohg, Jeannette, 1981- |
| Thesis advisor | Kochenderfer, Mykel J, 1980- |
| Thesis advisor | Pavone, Marco, 1980- |
| Thesis advisor | Sadigh, Dorsa |
| Degree committee member | Pavone, Marco, 1980- |
| Degree committee member | Sadigh, Dorsa |
| Associated with | Stanford University, Computer Science Department |
Subjects
| Genre | Theses |
|---|---|
| Genre | Text |
Bibliographic information
| Statement of responsibility | Shushman Choudhury. |
|---|---|
| Note | Submitted to the Computer Science Department. |
| Thesis | Thesis Ph.D. Stanford University 2021. |
| Location | https://purl.stanford.edu/xt716fk9099 |
Access conditions
- Copyright
- © 2021 by Shushman Choudhury
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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