The idea of deploying autonomous robots to accomplish complicated tasks has roots in the early works studying the flocking and foraging behaviours among birds. The main question is how one can mimic different behaviours witnessed in populations of birds, mammals, insects, etc. among a population of artificial agents. Nowadays, the emerging use of large-scale multi-agent and multi-vehicle systems allow us to perform challenging spatially-distributed tasks such as search and recovery operations, exploration, surveillance, environmental monitoring or pollution detection, among many others.
This seminar focuses on distributed agreement strategies for multi-robot systems. First of all, we will discuss consensus algorithms for heterogeneous systems, representing, for example, different models or generations of robots. Based on that, we will offer two solutions to improve the connectivity properties of the system. Firstly, we will show how to improve the consensus algorithm's convergence rate by modifying classical control algorithms. More precisely, we concentrate on the stabilizing delay principle and we show how appropriately sampled information can be used in the controller’s design. Finally, we will design an algorithm for the compact deployment of agents that increases the number of connections of the graph. In this approach the desired configuration of the swarm is entirely specified by the inter-agent angles. The proposed strategy is a completely distributed algorithm, only based on local information that allows the self-organization of the swarm. Speaker Biography:
Gabriel Rodrigues de Campos is a postdoctoral research associate, member of the Mechatronics group at Signals and Systems, Chalmers University. In 2007, he received the Bachelor of Science degree in Electrical Engineering from Instituto Superior de Engenharia de Coimbra (Portugal). He joined in 2006 the Erasmus Exchange Program to study at the Université Reims-Champagne Ardenne (France), where he obtained the Bachelor of Science and a Master of Science in Electrical Engineering (specialized in Automatic Control) in 2007 and 2009, respectively. In 2009, he integrated the Gipsa-Lab, in Grenoble (France), as a PhD candidate on a topic entitled “Agreement strategies for multi-robot systems”, under the supervision of Alexandre Seuret and Carlos Canudas de Wit. During this period, he was also a visiting researcher with the Automatic Control Lab at KTH, in Stockholm (Sweden). His research interests focus in networked control systems and particularly in multi-agent systems: mobile robotics, autonomous deployment of agents, sensor averaging and agreement strategies.Gabriel de Campos-website
EL41, Linsen building, Hörsalsvägen 11, Chalmers
03 December, 2012, 10:00
03 December, 2012, 11:00