. . "2014-04-28+02:00"^^ . "0"^^ . "The main objective of the proposed project is to develop a distributed planning framework for efficient task-allocation planning in exploration and reconnaissance missions by a group of mobile robots operating in an unknown environment with considering communication constraints and uncertainty in localization of the individual team members. The main challenge is to decentralize the decision making process to scaling up with large fleet of robots (existing solutions are centralized or depend on full communication). The framework will be based on a distributed task-allocation planning, where the tasks represent the navigation goals towards which the robots are navigated to explore the whole environment. Sub-goals: - Evaluation of methods to generate goal candidates according to the overall performance of the exploration mission. - Extension of the integrated multi-robot exploration framework for planning with consideration of sources of localization uncertainties. - Evaluation of methods for determining cost of the goals in terms: goal\u2013robot distance, expected information gain, and influence of the navigation to the robot\u2019s localization error. - Extension of the distributed task allocation algorithm to consider limited communication range and meeting points (locations where effective communication can be performed) for exchanging new information between robots. - Prototyping of a dedicated middleware for programming a fleet of cooperative robots, especially integrating dynamic capabilities to activate/switch off/reduce or increase the communication range and the consumption power used according to meeting points proximity. - Experimental verification of the studied approaches in a practical deployment of the multi-robot exploration. - Publishing of the achieved results on the relevant scientific forums. - Establishment of scientific and research cooperation between CTU and CITI Lab and LORIA with further collaboration on scientific projects and students exchange."@en . . "0"^^ . " task-allocation" . . . . . . "0"^^ . "2014-01-01+01:00"^^ . "multi-robot coordination; task-allocation; mobile robot exploration"@en . . . "2015-12-31+01:00"^^ . "Multi-Agent Coordination in Robotic Exploration and Reconnaissance Missions"@en . . "multi-robot coordination" . . . . "http://www.isvav.cz/projectDetail.do?rowId=7AMB14FR019"^^ . "Hlavn\u00EDm c\u00EDlem projektu (mimo nav\u00E1z\u00E1n\u00ED spolupr\u00E1ce) je navrhnout multi-agentn\u00ED distribuovan\u00FD r\u00E1mec pro \u0159e\u0161en\u00ED \u00FAlohy multi-robotick\u00E9ho pr\u016Fzkumu s uva\u017Eov\u00E1n\u00ED zdroj\u016F lokaliza\u010Dn\u00EDch nejistot a omezen\u00E9ho komunika\u010Dn\u00EDho dosahu. Tento r\u00E1mec bude zalo\u017Een na distribuovan\u00E9m pl\u00E1nova\u010Di p\u0159id\u011Blov\u00E1n\u00ED \u00FAloh, ve kter\u00E9m \u00FAlohy p\u0159edstavuj\u00ED naviga\u010Dn\u00ED c\u00EDle, do kter\u00FDch jsou navigov\u00E1ny mobiln\u00ED roboty b\u011Bhem pr\u016Fzkumn\u00E9 mise. Sou\u010D\u00E1st\u00ED \u0159e\u0161en\u00ED tohoto probl\u00E9mu jsou n\u00E1sleduj\u00EDc\u00ED d\u00EDl\u010D\u00ED pod-c\u00EDle. - Vyhodnocen\u00ED metod generov\u00E1n\u00ED c\u00EDl\u016F na celkov\u00FD \u010Das pr\u016Fzkumn\u00E9 mise. - Roz\u0161\u00ED\u0159en\u00ED integrovan\u00E9ho pl\u00E1novac\u00EDho r\u00E1mce multi-robotick\u00E9ho pr\u016Fzkumu o uva\u017Eov\u00E1n\u00ED vlivu chyby lokalizace. - Vyhodnocen\u00ED metod ohodnocov\u00E1n\u00ED c\u00EDl\u016F z hlediska vzd\u00E1lenosti od robotu, o\u010Dek\u00E1van\u00E9ho informa\u010Dn\u00EDho p\u0159\u00EDnosu a vlivu na chybu ur\u010Den\u00ED pozice robotu (lokalizaci). - Roz\u0161\u00ED\u0159en\u00ED distribuovan\u00E9ho algoritmu alokace \u00FAloh o uva\u017Eov\u00E1n\u00ED omezen\u00E9ho komunika\u010Dn\u00EDho dosahu a zohledn\u011Bn\u00ED m\u00EDst setk\u00E1n\u00ED p\u0159i v\u00FDb\u011Bru c\u00EDl\u016F pro podporu vz\u00E1jemn\u00E9 v\u00FDm\u011Bny nov\u011B z\u00EDskan\u00FDch informac\u00ED mezi roboty. Prototypov\u00E1n\u00ED specializovan\u00E9ho komunika\u010Dn\u00ED r\u00E1mce (middleware) pro implementaci kooperativn\u00EDho chov\u00E1n\u00ED skupiny robot\u016F, zejm\u00E9na s ohledem na integraci dynamick\u00E9ho \u0159\u00EDzen\u00ED mo\u017Enost\u00ED komunikace zapnut\u00ED/vypnut\u00ED, sn\u00ED\u017Een\u00ED nebo zv\u00FD\u0161en\u00ED komunika\u010Dn\u00EDho dosahu a \u0159\u00EDzen\u00ED spot\u0159eby energie podle vzd\u00E1lenosti od m\u00EDst setk\u00E1n\u00ED. Experiment\u00E1ln\u00ED ov\u011B\u0159en\u00ED studovan\u00FDch p\u0159\u00EDstup\u016F v praktick\u00E9 \u00FAloze multi-robotick\u00E9ho pr\u016Fzkumu. - Publikov\u00E1n\u00ED dosa\u017Een\u00FDch v\u00FDsledk\u016F na relevantn\u00EDch v\u011Bdeck\u00FDch f\u00F3rech. - Nav\u00E1z\u00E1n\u00ED v\u011Bdecko-v\u00FDzkumn\u00E9 spolupr\u00E1ce mezi \u010CVUT a CITI Lab a LORIA s v\u00FDhledem dal\u0161\u00ED spolupr\u00E1ce na spole\u010Dn\u00FDch projektech na v\u00FDm\u011Bnn\u00FDch studentsk\u00FDch pobyt\u016F." . . . . . "Multi-agentn\u00ED koordinace v \u00FAloh\u00E1ch robotick\u00E9ho pr\u016Fzkumu" . "2015-05-28+02:00"^^ . . "0"^^ . "7AMB14FR019" . "1"^^ .