Indoor multi robot search using bayesian method
Also available in printed version : TJ211 W663 2008 raf
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| 其他作者: | |
| 格式: | Master's thesis |
| 出版: |
Universiti Teknologi Malaysia
2025
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| 主題: | |
| 在線閱讀: | https://utmik.utm.my/handle/123456789/104256 |
| Abstract | Abstract here |
| _version_ | 1854975141105106944 |
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| author | Wong El Mane |
| author2 | Shamsudin H. M. Amin, supervisor |
| author_facet | Shamsudin H. M. Amin, supervisor Wong El Mane |
| author_sort | Wong El Mane |
| description | Also available in printed version : TJ211 W663 2008 raf |
| format | Master's thesis |
| id | utm-123456789-104256 |
| institution | Universiti Teknologi Malaysia |
| publishDate | 2025 |
| publisher | Universiti Teknologi Malaysia |
| record_format | dspace |
| record_pdf | Abstract |
| spelling | utm-123456789-1042562025-04-10T18:54:14Z Indoor multi robot search using bayesian method Wong El Mane Shamsudin H. M. Amin, supervisor Robotics Also available in printed version : TJ211 W663 2008 raf Surveillance and monitoring activities in disaster scenarios requires high mobility and perception capabilities in natural environments. Aerial robotic vehicles can be used to provide such capabilities overcoming the limitations of ground robotic vehicles to access to the appropriate locations for surveillance and monitoring. The use of a fleet of robotic aerial vehicles improves the coverage and the reliability of the mission, when comparing with the application of a single UAV. This work was aimed at determining the optimal control algorithm for a team of robots deployed to search an area for targets. The environment was assumed to be known and initial probability of finding an arbitrary number of targets (which is victims in this case) within the environment was available. Bayesian filter was used to update the probability distribution function (PDF) of the search environment. Vehicles were able to share information with each other and thus coordination was achieved. The search algorithm was presented through Matlab simulation and analysis. In addition, different utility function switching, such as shortest path method, was looked into to improve the robustness of the search algorithm. Different environments were tested to show the effectiveness of the algorithm atiff UTM 150 p. Thesis (Sarjana Kejuruteraan (Elektrik - Mekatronik dan Kawalan Automatik)) - Universiti Teknologi Malaysia, 2008 2025-04-10T07:16:53Z 2025-04-10T07:16:53Z 2008 Master's thesis https://utmik.utm.my/handle/123456789/104256 valet-20160129-105012 vital:83841 Closed Access UTM Complete Unpublished application/pdf Universiti Teknologi Malaysia |
| spellingShingle | Robotics Wong El Mane Indoor multi robot search using bayesian method |
| thesis_level | Master |
| title | Indoor multi robot search using bayesian method |
| title_full | Indoor multi robot search using bayesian method |
| title_fullStr | Indoor multi robot search using bayesian method |
| title_full_unstemmed | Indoor multi robot search using bayesian method |
| title_short | Indoor multi robot search using bayesian method |
| title_sort | indoor multi robot search using bayesian method |
| topic | Robotics |
| url | https://utmik.utm.my/handle/123456789/104256 |
| work_keys_str_mv | AT wongelmane indoormultirobotsearchusingbayesianmethod |