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Towards a Fully Autonomous Robotic System for lntra-logistics Applications: Applications in the Oil and Gas lndustry
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- Author / Creator
- Tzintzun Ramos, Juan M.
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Intra-logistics plays an important role in industry and service activities. However,
current intra-logistics systems have several shortcomings for which mobile
robots are the most suitable candidate to solve them. Nevertheless, the use
of mobile robots should rstly overcome several challenges for becoming a realistic
solution. We narrow the scope of this work and focus our attention to
improve planning abilities (motion planning, task planning, task allocation) of
robots used in intra-logistics operations. Towards that end we approach our
problem from a formal methods perspective as it has been shown it may be
a solution that can successfully improve important abilities desired by such
robotic applications. In this work we present a mixed integer linear programming
formulation for the multi-vehicle traveling salesman problem with pick-up
and delivery and split load constraints as a new formulation able to capture a
bigger set of instances. We then use recent developments in decomposition of
formulas given in a subset of linear temporal logic to propose the multi-robot
pickup and delivery problem with linear temporal logic. Finally, we explore
possible applications of the models presented in intra-logistics operations in
the oil and gas industry -
- Subjects / Keywords
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- Graduation date
- Fall 2020
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- Type of Item
- Thesis
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- Degree
- Master of Science
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- License
- Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.