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E190Q – Project IntroductionAutonomous Robot Navigation

Team Member 1 Name

Team Member 2 Name

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Preliminary Project Presentation

1. Problem Definition Written definition Overview image Provide performance metrics

2. Background Include 3+ references Be sure to provide full citation Use images from references Describe key findings of paper

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Preliminary Project Presentation

3. Proposed Solution Block Diagram including sensors and

actuators (inputs, outputs, closed loop )

4. Measurable Outcomes List potential plots or tables of performance

metrics

5. Milestones List major tasks with dates Identify team member responsible if

applicable

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Preliminary Project Presentation

Notes: 5 minute time limit for slides Both students must present Students will help with assessment Presentations on Monday, April 1, 2013

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Problem Definition

To design a Multi AUV Task Planner that considers kinematic constraints

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Problem Definition

To design a Multi AUV Task Planner that considers kinematic constraints

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Problem Definition

Given N task point locations and M AUVs

Determine The assignment of tasks to AUVs and AUV

tours of assigned task points that minimizes the maximum path length all AUV tours.

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Problem Definition

Performance Metrics Maximum AUV tour length Planning Time or run time complexity

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Background

[1] R. Zlot, A. Stentz, M. B. Dias, and S. Thayer, Multi-robot exploration controlled by a market economy, in Proc. IEEE Conf. Robotics and Automation, vol.3, Washington, DC, pp. 3016-3023, 2002. Used an auction based method in which task points are

auctioned off to robot with the highest bid (i.e. lowest additional path cost).

Decentralized. Fast, O(MN), but Sub-optimal

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Background

[2] L. E. Dubins, On curves of minimum length with a constraint on average curvature and with prescribed initial and terminal position and tangents, American J. Mathematics, vol. 79, no. 3, pp. 497-516, Jul. 1957. Demonstrated the shortest path between points when minimum turn

radius is a constraint Shortest Path is a connected curve of minimum radius, straight line

segment, and curve of minimum radius

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Background

[3] Chow, Clark, Huissoon, Assigning Closely Spaced Targest to Multiple Autonomous Underwater Vehicles, Journal of Ocean Engineering, Vol. 41-2 2007. Algorithm considers vehicle dynamics and currents Demonstrated that using euclidean distance between task

points is a poor metric for calculating tour path length when task points are tightly spaced

Real Ocean Deployments

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Background

[3] Chow, Clark, Huissoon, Assigning Closely Spaced Targest to Multiple Autonomous Underwater Vehicles, Journal of Ocean Engineering, Vol. 41-2 2007. Algorithm considers vehicle dynamics and currents Demonstrated that using euclidean distance between task

points is a poor metric for calculating tour path length when task points are tightly spaced

Real Ocean Deployments

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Proposed Solution

N Task Point Locations

M AUV Locations

Task AssignmentAlgorithm

Task SequenceAlgorithm

AUV Path Construction

Algorithm

M AUV Paths

M TaskAssignments

M TaskSequences

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Proposed Solution

Task Assignment Algorithm Cluster N points into M groups K-means clustering

algorithm Assign one AUV to each cluster using a greedy

assignment algorithm

Task Sequence Algorithm Find next closest point algorithm

AUV Path Construction Algorithm Fit arc path segments between each task point of a

sequence

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Measurable Outcomes

Run time as a function of the number of robots

Average AUV path length for various ratios of N/M

Comparison of average AUV path length when using standard MTSP planner and MTSP planner that considers kinematic constraints

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Milestones

Data Task

Jan 15 Develop multi-AUV simulator

Feb 1 Implement Auction Based Task Planner MTSP solution

Mar 1 Implement Auction Based Task Planner MTSP solution

Mar 8 Run 100 simulations for each parameter setting

Mar 15 Present planner and results