Coordinated part delivery using distributed planning
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2011
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| Online Access: | http://hdl.handle.net/1721.1/61279 |
| _version_ | 1811090810962182144 |
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| author | Bolger, Adrienne (Adrienne M.) |
| author2 | Daniela Rus. |
| author_facet | Daniela Rus. Bolger, Adrienne (Adrienne M.) |
| author_sort | Bolger, Adrienne (Adrienne M.) |
| collection | MIT |
| description | Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010. |
| first_indexed | 2024-09-23T14:52:19Z |
| format | Thesis |
| id | mit-1721.1/61279 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:52:19Z |
| publishDate | 2011 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/612792019-04-10T09:42:25Z Coordinated part delivery using distributed planning Coordinated part delivery UDP Bolger, Adrienne (Adrienne M.) Daniela Rus. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010. Cataloged from PDF version of thesis. Includes bibliographical references (p. 81-82). In this thesis, we develop a distributed mobile robot platform to deliver parts around a model construction site. The platform's robots, specialized into delivery robots and assembly robots, use a distributed coverage algorithm to determine where parts should be delivered. The robots consist of a mobility platform (iRobot iCreate), a manipulation platform (Crustcrawler arm), and an IR communication system to enable recognition and grasping of parts. To control the robot hardware, we implemented software in Java. The delivery robots use IR communication to find parts at a supply station. After communicating over UDP multicast with assembly station robots, the delivery robots deliver parts to the assembly robots based on their coverage control algorithm. To evaluate the algorithm, we constructed a hardware system of 4 robots, connected to a VICON motion capture system for localization. We discuss the results of successful hardware and software testing of the system as a method of delivering parts around a construction site, and we discuss future plans to use the platform to assemble parts once delivered. by Adrienne Bolger. M.Eng. 2011-02-23T14:40:52Z 2011-02-23T14:40:52Z 2010 2010 Thesis http://hdl.handle.net/1721.1/61279 702366444 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 83, [10] p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Bolger, Adrienne (Adrienne M.) Coordinated part delivery using distributed planning |
| title | Coordinated part delivery using distributed planning |
| title_full | Coordinated part delivery using distributed planning |
| title_fullStr | Coordinated part delivery using distributed planning |
| title_full_unstemmed | Coordinated part delivery using distributed planning |
| title_short | Coordinated part delivery using distributed planning |
| title_sort | coordinated part delivery using distributed planning |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/61279 |
| work_keys_str_mv | AT bolgeradrienneadriennem coordinatedpartdeliveryusingdistributedplanning AT bolgeradrienneadriennem coordinatedpartdeliveryudp |