DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Shin, In-Sik | - |
dc.contributor.advisor | 신인식 | - |
dc.contributor.author | Chwa, Hoon-Sung | - |
dc.contributor.author | 좌훈승 | - |
dc.date.accessioned | 2011-12-13T06:09:36Z | - |
dc.date.available | 2011-12-13T06:09:36Z | - |
dc.date.issued | 2011 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=467919&flag=dissertation | - |
dc.identifier.uri | http://hdl.handle.net/10203/34960 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 전산학과, 2011.2, [ v, 30 p. ] | - |
dc.description.abstract | In this paper, we consider multiple robot display such that when users give a sequence of images as input, a large number of robots construct a sequence of formations to visualize the input images collectively. Users perceive a higher quality of responsiveness when robots respond to users` input in a more prompt and/or regular manner. A key problem in multiple robot display is trajectory planning, which determines the robot`s position and velocity along a given path while avoiding collisions. The response then consists of trajectory planning computation time and robot moving time. In the multiple robot display, there is a conflict between reducing computation time and reducing robot moving time, and it is complicated to predict such a tradeoff over various environments. We propose an adaptive framework that exploits this tradeoff by dynamically adjusting a specific parameter - how many robots are under investigation one by one in sequence for collision resolution. Our simulation results show that our framework effectively reduces the response time in a scalable manner, and it produces balanced solutions adapting to various environments. Our experiment results also show that our framework is valid with real robot settings. | eng |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | Robot control | - |
dc.subject | Trajectory planning | - |
dc.subject | Response time | - |
dc.subject | 반응 시간 | - |
dc.subject | 로봇 제어 | - |
dc.subject | 경로 플래닝 | - |
dc.title | Adaptive trajectory planning for scalable multiple robot control | - |
dc.title.alternative | 스케일러블 군집 로봇 제어를 위한 적응적 경로 플래닝 기법 연구 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 467919/325007 | - |
dc.description.department | 한국과학기술원 : 전산학과, | - |
dc.identifier.uid | 020093529 | - |
dc.contributor.localauthor | Shin, In-Sik | - |
dc.contributor.localauthor | 신인식 | - |
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