LiU Electronic Press
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Author:
Wikström, Anders (Linköping University, Department of Computer and Information Science) (Linköping University, The Institute of Technology)
Title:
Resource allocation of drones flown in a simulated environment
Alternative title (sv) :
Resursfördelning av drönare i en simulerad miljö
Department:
Linköping University, Department of Computer and Information Science
Linköping University, The Institute of Technology
Publication type:
Student thesis
Language:
English
Level:
Independent thesis Basic level (university diploma), 10,5 credits / 16 HE credits
Undergraduate subject:
Computer and information science at the Institute of Technology
Pages:
24
Year of publ.:
2014
URI:
urn:nbn:se:liu:diva-105379
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-105379
ISRN:
LIU-IDA/LITH-EX-G--14/003—SE
Subject category:
Computer Systems
Keywords(en) :
drone, assignment problem, the Hungarian algorithm, Threshold, ROS
Abstract(en) :

In this report we compare three different assignment algorithms in how they can be used to assign a set of drones to get to a set of goal locations in an as resource efficient way as possible. An experiment is set up to compare how these algorithms perform in a somewhat realistic simulated environment. The Robot Operating system (ROS) is used to create the experimental environment. We found that by introducing a threshold for the Hungarian algorithm we could reduce the total time it takes to complete the problem while only sightly increasing total distance traversed by the drones.

Presentation:
2014-02-27, Muhammad al-Khwarizmi, Linköpings universitet, LINKÖPING, 15:00 (English)
Supervisor:
Kleiner, Alexander, Prof. Dr. (Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems) (Linköping University, The Institute of Technology)
Examiner:
Kleiner, Alexander, Prof. Dr. (Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems) (Linköping University, The Institute of Technology)
Available from:
2014-04-01
Created:
2014-03-20
Last updated:
2014-04-01
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3524 kb
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