Multi Robot Coordination In Unstructured Environment

In today’s modern world, industrial robots are utilized in hazardous working condi-tions across all industries, including the renewable energy industry. Robot control systems and sensors receive and transmit information and data obtained from the users. Over the last ten years, unmanned vehicles have developed into a subject of interest for a variety of research institutions. Technology breakthroughs are redefin- ing disaster relief, search-and-rescue(SAR) and salvage operations’ for aerial robotic systems as well as terrestrial and marine ones. A team of collaborative robots is required for the challenging environments, such as space construction, and disaster relief. These robots will have to make trade-offs between mobility and capabilities owing to cost, power, and size constraints. Task execution in numerous areas may de- mand for robot collaboration in order to optimize team performance. An analysis of collaborative Unmanned Aerial Vehicle(UAV) and Unmanned Ground Vehicle(UGV) systems is one of the main components of this thesis. UAV/UGV collaborative frame- works and methods have been presented for reaching or monitoring moving human targets, a stated set-point for a mobile UGV robot to go to in order to approach a dynamic target, and actions to take by the UAVs when the mobile UGV robot is obstructed and cannot reach the target. This method encourages the target and robot to work together more closely. This is one of the most difficult issues in search and rescue operations since human targets are seldom found using just land robots or aerial robots. Finally, the purpose of this thesis is to suggest that the evaluation of the performance of a collaborative robot system may be accomplished by measuring the mobility of robots. Even though multi-robot coordination aids in SAR opera- tions, the findings of the study presented in this thesis conclude that the integration of various autonomous robotic systems in unstructured environments is difficult and that there is currently no unitary analytical model that can be used for this purpose.