Izvajanje vzporednih planov za sodelovanje skupine robotov

Tovornik, Robert (author), Bratko, Ivan (mentor)

V okviru danega diplomskega dela smo se odločili implementirati usklajeno premikanje preprostih robotov Thymio na pravokotni mreži. V postopku priprave izvedbenih planov smo za osnovo vzeli abstraktne plane za reševanje variant igre osmih ploščic. Izdelali smo algoritem za pretvorbo abstraktnih planov v izvedbene plane za robote, ki fizično izvedejo premike ploščic. Abstraktnim planom smo dodali potrebne poteze rotacij in mirovanja z ozirom na ohranitev časovne usklajenosti izvedbenih ukazov posameznih robotov, s čimer zagotovimo varno premikanje robotov. Robote Thymio smo tekstovno sprogramirali v programskem jeziku Aseba kot končne avtomate. Avtomat deluje v dveh nivojih, globalno in lokalno in se odziva na dogodke, kot je zaznava bližine drugega robota. Globalni nivo skrbi za sinhronizacijo akcij abstraktnega plana. Lokalni nivo skrbi za izvedbo akcij in se odziva na spremebe okolja. Implementirani algoritem smo ovrednotili na nalogah gibanja do štirih robotov na mrežah velikosti do 3x3.

• Language: Slovenian
• Keywords: planiranje, usklajeno, vzporedno, izvedba, robot, Thymio
• Work type: Bachelor thesis/paper
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2018
• PID: 20.500.12556/RUL-100572
• Publication date in RUL: 29.03.2018

Secondary language

• Language: English
• Title: Execution of parallel plans for cooperation of a group of robots

Abstract

Within the given diploma thesis, we decided to implement a coordinated movement of simple Thymio robots on a rectangular grid. We took the abstract plan of the eight puzzle game variant and used it as a basis in the process of forming execution plans. We created an algorithm for transforming abstract plans into execution plans for robots that physically perform the movements of tiles. We added the necessary moves of rotations and hibernation to the abstract plan, taking into consideration the preservation of harmonized execution commands of individual robots, therefore ensuring the safe movement of robot. The Thymio robots were programmed as finite-state automaton through text, using Aseba programming language. The automaton operates in two layers, both globally and locally and responds to events such as detecting proximity of another robot. The global layer ensures the synchronization of abstract plan actions. The local layer executes the actions and responds to environmental changes. The implemented algorithm was evaluated on the tasks of moving up to four robots on grids of size up to 3x3.

• Keywords: planning, harmonized, parallel, execution, robot, Thymio