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Virtual Warehouse
Hájek, Břetislav ; Barták, Roman (advisor) ; Švancara, Jiří (referee)
This thesis focuses on the creation of software for the visualization of a warehouse. That includes warehouse structure, items, orders, and stats around them. The software also provides a possibility to animate a movement of picker agents. The data structure is represented using ontology written in OWL language. There is no standard ontology for warehouse representation right now, so one of the goals of this thesis is to propose such representation. The benefits of using such ontology are the ability to share the data in a standard format across different software. The software also allows dynamic extension of this ontology The program has a modular structure that allows creating plugins for calculating custom metrics which will be then automatically visualized. 1
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Multi-agent Path Finding
Švancara, Jiří ; Barták, Roman (advisor) ; Koenig, Sven (referee) ; Vokřínek, Jiří (referee)
Multi-Agent Path Finding (MAPF) is the task to find efficient collision-free paths for a fixed set of agents. Each agent moves from its initial location to its desired destination in a shared environment represented by a graph. The classical definition of MAPF is very simple and usually does not reflect the real world accurately. In this thesis, we try to add several attributes to the MAPF definition so that we overcome this shortcoming. This is done in several steps. First, we present an approach on how to model and solve MAPF via reduction to Boolean satisfiability using Picat programming language. This provides us with a useful model that can be easily modified to accommodate additional constraints. Secondly, we modify MAPF to portray a more realistic world. Specifically, we allow new agents to enter the shared environment during the execution of the found plan, and we relax the requirement on the homogeneousness of the shared environment. Lastly, we experimentally verify the applicability of the novel models on real robots in comparison with the classical MAPF setting.
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3D social network
Hruška, Lukáš ; Švancara, Jiří (advisor) ; Brom, Cyril (referee)
There are plenty of social networks which we use every day, though just a few of them do not follow the mainstream design in the form of infinitely long news feed with posts from people the user is interested in and the possibility of private communication using a chat or a private call. However, this project is in 3D space where every user controls his own character in a room full of other users. The 3D space with the modular design of the app adds a feature of extensibility in form of apps, where an app can be an object placed in the room, 2D app in menu interface, or an app controlling logic of the room. 1
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Co-ordinated Path Finding for a Robot Swarm
Mestek, Jakub ; Barták, Roman (advisor) ; Švancara, Jiří (referee)
The thesis deals with finding of collision free paths for groups of robots from their initial locations to their target locations (Multi-agent Path Finding - MAPF). The target locations are inputted only as a set of locations for each group, a particular assignment of agents to locations is not given. Therefore, it is a group (team, colored) variant of the MAPF problem. As a part of this thesis, an application was developed that enables users to enter an initial and target configuration of robots and to find the shortest possible collision free plans. These plans can be visually simulated and it is possible to generate from them programs executable on Ozobot Evo robots. 1
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Artificial Inteligence for Draughts
Bělíček, David ; Švancara, Jiří (advisor) ; Hric, Jan (referee)
Draughts is a board game that is played all around the world in various forms. The aim of this thesis is to describe and implement an artificial intelligence algorithm that will be able to play draughts. We will explain the working of Minimax algorithm, how to enhance it using Alpha-Beta pruning, and its limited-depth version, which uses heuristic evaluations. We will present two hand-crafted heuristic evaluations, how such heuristic evaluation can be replaced with a neural network, and how to develop these networks using evolutionary algorithms. Finally, we will perform experiments in which we will test the created heuristics and networks. At the end of the thesis, we present a tournament that decides which of the developed algorithms is the best.
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From abstract to executable plans
Wiesner, Robert ; Barták, Roman (advisor) ; Švancara, Jiří (referee)
This thesis delves into postprocesing on plans for Multi Agent Path Finding. The intent behind postprocesing is to chang the plans so they can be performed by real robots. Changes include reduction in wasted time and introduction of robustness. This thesis proposes five algorithms (later extended to ten), through which MAPF plans are being transfered to a significantly lower level of abstraction. Results were tested on sixty plans created by MAPF solver MAPF Scenatio over five maps. Some resulting plans were tested in real life on robots Ozobot Evo. Results indicate that significantly lower makespan and greater robustness can be achieved through postprocessing. This study also indicates that various algorithms are more effective for certain types of plans.
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Cube Fighter
Guba, Peter ; Kofroň, Jan (advisor) ; Švancara, Jiří (referee)
Real-time strategy games and action games are two very different types of computer games. In my project, I attempted to see whether they could be combined to make a coherent whole, with mixed results. The backbone of my game is its real-time strategy mode, inspired by Warcraft III and The Battle for Middle-earth 1 and 2. In this mode, the player can create buildings and units and use them to fight the enemy. The game also has another mode of playing which imitates action games. In it, the player only controls a single unit. The second mode ended up being just a fun add-on instead of an essential part of the gameplay as I had originally intended. The reason behind that wasn't that it would be impossible to make it so, but rather that it would require my game to be far more complex.
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Smart plant pot
Berný, Jiří ; Bureš, Tomáš (advisor) ; Švancara, Jiří (referee)
Many of the clever devices are making peoples lifes easier. A Smart plant pot will anable gardeners to control the life environment of plants. Using the STM32F4 microcomputer and the web aplication, the user has all of his plants under control from any place even from his own mobile phone. The user places the microcomputer to his plant pot, connects it into his WiFi network and checks the last measured data, graphs with long-term environment charts and manages his list of pots. Web applications backend is built on OWIN and WebAPI. Frontend was made with modern framework Angular 5 and has a form of a Single Page Application.
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Comparison of proposed measures in Brantice–Kostelec section of river Opava
Korálová, Nikola ; Švancara, Jiří (referee) ; Zachoval, Zbyněk (advisor)
Diploma thesis deals with comparison of flow influenced by proposed measures with current status in Brantice-Kostelec section of the river Opava. The results of two-dimensional numerical model of steady uniform flow were used to assess the flow. The models were created using SMS – FESWMS for both of conditions. Thesis contains description of current status, design status, the theory of numerical modelling, comparison of the flow and evaluation of results.
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Multi-agent Path Planning in Unidirectional Environments
Švancara, Jiří ; Surynek, Pavel (advisor) ; Barták, Roman (referee)
In this paper we focus on the optimal multi-agent path planning, which is an NP-complete problem. To solve this task, we will use centralized A* search algorithm for which we propose a new heuristic. To construct our proposed heuristic, we examine the solution of multi-agent path planning via its reduction to multi-commodity flow, which is also an NP-complete problem. Our heuristic is based on relaxation of multi-commodity flow to single-commodity flow that can be solved in polynomial time. We show that this new heuristics is admissible and consistent. We also show types of problems for which our heuristic is more successful than other heuristics. Powered by TCPDF (www.tcpdf.org)
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