Fri, Feb 08, 2019 @ 01:00 PM - 03:00 PM
Title: Motion Coordination for Large Multi-Robot Teams in Obstacle-Rich Environments PhD Candidate: Wolfgang Hoenig Date and Time: Friday, February 8, 2019, 1:00 PM in RTH406
Committee: Nora Ayanian, Gaurav Sukhatme, Sven Koenig, and Vijay Kumar
Using multiple robots is important for search-and-rescue, mining, entertainment, and warehouse automation, where robots must often operate in constrained, perhaps even maze-like environments. Motion coordination is a fundamental building block in such scenarios. In this work, two components of motion coordination are considered: motion planning and motion execution. For motion planning, ideas from discrete planning and continuous optimization are combined. The resulting approach can produce plans for hundreds of heterogeneous robots within minutes. For motion execution, motion planning and traditional motion execution methods are coupled with a feedback term. The approaches are demonstrated on different teams of robots, including ground robot teams, quadrotor teams, and heterogeneous teams.
Audiences: Everyone Is Invited
Posted By: Lizsl De Leon