The industry of the civil Unmanned Aerial Vehicles (UAVs) has been growing rapidly
in past few years. In many scenarios, accomplishing a task using a single UAV is
either not cost-effective due to the size of the project or not even feasible due to
the existence of unforeseen environment conditions and constraints (e.g., weather
conditions and/or physical obstacles). This limitation motivates the need to move to
solutions that incorporate a network of autonomous UAVs that carry out a joint and
coordinated mission.
This thesis introduces a multi-agent system and related algorithms that solve the
graph traversal problem in a distributed and decentralized manner while optimizing
a set of costs. The environment is modelled as a graph where every node is the point
for the agents to accomplish some task or to distinguish the point as an obstacle
where traveling is not possible. The online distributed algorithms are implemented
on a network of UAVs and we report the results of rigorous simulations and real
experiments with a network of UAVs. The results clearly validate our claim that a
network UAVs can be effectively employed to accomplish a given task. / Thesis / Master of Science (MSc)
| Identifer | oai:union.ndltd.org:mcmaster.ca/oai:macsphere.mcmaster.ca:11375/20514 |
| Date | January 2016 |
| Creators | Markov, Mikhail |
| Contributors | Bonakdarpour, Borzoo, Computing and Software |
| Source Sets | McMaster University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis |
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