This class covers current research topics in multi-robot systems ranging from coordination algorithms to analysis and synthesis. 

This class has been offered only in Fall 2009 and will be replaced by CS4830/7000 “Advanced Robotics”

In the first part of the course, we will study various commonly used coordination mechanisms ranging from bio-inspired, reactive algorithms to deliberative planning, and discuss centralized vs. decentralized systems.  In the second part of the course, we will cover probabilistic and deterministic mathematical models for multi-robot system (difference equation models, partial difference equation models, artificial potential fields, graph-based models, kinematic simulation, and physical simulation) and show how these tools can enable analytical results for robotic swarms. The third part of the course will then show how these models can be used to optimize a particular system using machine learning and numerical optimization techniques.

The material will be presented as much as possible in the form of case studies with an emphasis on providing an understanding of the underlying single-robot concepts such as sensors and actuators, control, planning and software architecture. Grading will be based on a course project with the possibility to experiment with hardware available at the lab. 

Prerequisites: programming experience in C/C++ and/or MATLAB. Experimental experience with robotics is advantageous.

Time: Monday, Wednesday, Friday 3-3.50pm

Guest Lecturers:

11-02-09: Michael Otte (CU Boulder)
                 Multi-Robot Navigation

11-04-09: Prof. Mark Yim (University of Pennsylvania)
                 Modular Robots

11-09-09: Prof. Eric Frew (CU Boulder)

                 Planning and Control of Unmanned Aircraft Systems
                 in Realistic Communication Environments

Project Presentations:

11-30-09: Mikael Pryor and Neeti Wagle

                 Particle Filters in Multi-Robot Systems

12-02-09: Vijeth Rai and Jason Durrie

                 Reactive Swarms

12-04-09: Maciej Stachura, Gregory Brown and Benjamin Pearre

                 Gradient-based approaches

12-07-09: Apratim Shaw, Stephen Heck, and Rhonda Hoenigman

                 Swarm Intelligence

12-09-09: Patrick Mitchell, Monish Prakhabar and Swamy Ananthanarayan

                 Large-scale distributed systems

12-11-09: Marek Sotola, Anthony Carfang and Peter Klein

                 Multi-Robot Teams

Location: ECCR 108 (unless otherwise noted)