Towards stigmergic heterogenous symbiotic robot teams: enhancing RFID-based stigmergic robots for mapless environments
The study in this thesis presents new solutions for increasing the performance of RFID-based inventory robots. The first novel solution is the design of an RFID-based inventory aerial robot for the problem of stock-counting in large warehouses with very high shelves, thus, reducing the risks of huma...
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| Tipo de recurso: | tesis doctoral |
| Estado: | Versión publicada |
| Fecha de publicación: | 2023 |
| País: | España |
| Institución: | CBUC, CESCA |
| Repositorio: | TDR. Tesis Doctorales en Red |
| OAI Identifier: | oai:www.tdx.cat:10803/688426 |
| Acceso en línea: | http://hdl.handle.net/10803/688426 |
| Access Level: | acceso abierto |
| Palabra clave: | RFID-based inventory robots Robots de inventario basados en RFID 62 |
| Sumario: | The study in this thesis presents new solutions for increasing the performance of RFID-based inventory robots. The first novel solution is the design of an RFID-based inventory aerial robot for the problem of stock-counting in large warehouses with very high shelves, thus, reducing the risks of human injury that accompany performing such tasks, costs, and time of operation. This robot design uses a stigmergic-based navigation algorithm to enable full autonomy in mapless environments. The second solution presented in this thesis is the development of a simulation tool that enables the robotic community to utilize RFID sensors with robots in simulation, to reduce time and costs, especially when using operational-cost expensive aerial robots. The simulation tool is based on a simplified probabilistic model that considers statistical, geometrical, and some antenna related parameters. The proposed tool is validated using various experiments in the laboratory. These validation experiments test and validate the robustness of the simulation tool with different environment layouts, the number of RFID tags in the environment, and different robot types. The third solution presented in this thesis is a localization model that is designed for distributed heterogeneous multi-robots to extend their collaboration, for solving the problem of increasing the performance of task-oriented team robots in map-less environments, this is done by exploiting the heterogeneity feature in the team. The proposed model was tested in both laboratory environments and in simulation. The simulation experiments expose the use of this model to increase the performance of a heterogeneous team of robots performing an inventory task. Finally, this thesis presents new innovative hybrid robot structure designs, that aim to amplify the abilities and features of an individual robot. The main proposed design adapts in hardware and software, the functionality of aerial and ground robots in one system, for the purpose of exploiting the beneficial characteristics that associate both robot types, at the same time mitigating the drawbacks of operating these robots individually. |
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