September 28, Course Projects


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Multi-Robot Systems

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September 28, Course Projects

  1. 1. Multi-Robot Systems<br />CSCI 7000-006<br />Monday, September 28, 2009<br />NikolausCorrell<br />
  2. 2. Crafting a Research Project <br />What is “research”?<br />Preliminary requirement: open question<br />Secondary: how to solve it<br />Hypothesis: states question and leads to methodology<br />Sources of confusion<br />You need to investigate what the questions are<br />You need to design your experiment<br />You need to optimize your system<br />You need to develop tools to investigate<br />
  3. 3. Collaborative Lifting<br />Problem: Lifting a box collaboratively<br />Hypothesis: Problem can be encoded in a single cost function that allows gradient-based control<br />Method: formal stability analysis<br />Gregory Brown<br />
  4. 4. Collaborative Bouncing<br />Problem: Bouncing a ball back and forth between two robots<br />Hypothesis: Use a particle-filter for predicting system dynamics<br />Method: Dynamical model and implementation<br />Mikael Ian Pryor<br />
  5. 5. Probabilistic Patrolling<br />Problem: Patrol an environment efficiently but unpredictable to the adversary<br />Hypothesis: Use a balance between exploration and exploitation during coverage<br />Method: Probabilistic algorithm, model, implementation<br />VijethRai<br />
  6. 6. Probabilistic Localization with Geometric Constraints<br />Problem: Localizing “intelligent” objects<br />Hypothesis: Using the object geometry and simulated physics in a particle filterfor an RFID reader can improve localization accuracy<br />Method: Particle filter combined with physics-based simulator<br />Neeti Shared Wagle<br />
  7. 7. Reactive Coverage with Connectivity Constraints<br />Problem: cover an environment while maintain connectivity<br />Hypothesis: Constraints can be encoded in a global cost function<br />Method: Stability analysis of gradient-based controller<br />MaciejStachura<br />
  8. 8. Probabilistic Path Generation for Data Ferrying in Unknown Sensor Deployments<br />Problem: collecting data from sensor network using mobile robot<br />Hypothesis: optimal planning always better or same than randomized even if node location is unknown<br />Method: analysis and hardware validation<br />Anthony Carfang<br />
  9. 9. Policy-space Learning of Tunable Locomotion Primitives<br />Problem: learn to locomote unknown actuator configurations<br />Hypothesis: The Natural Policy Gradient method can allow to find optimal policies in high-dimensional, continuous state space in real time<br />Method: implementation in realistic simulation<br />Ben Pearre<br />
  10. 10. Resource sharing in Multi-Robot Systems<br />Problem: improve individual performance by relying on team sensors<br />Hypothesis: Can Resource Sharing Make Up for Perception Deficiencies in a Multi-Robot Team?<br />Method: Demonstration in real hardware<br />GPS<br />Peter Klein<br />
  11. 11. Informed Flocking in Honey Bees<br />Question: how do honeybees communicate the location of a new nesting site<br />Hypothesis: Can the Robustness to Disturbances Shed Light into the Preferred Method of Informed Flocking in Honey-Bees?<br />Approach: mathematical model and numerical simulation<br />Apratim Shaw<br />
  12. 12. Mothership/Daughtership Coverage Control Problem<br />Question: how to best distribute capabilities in a system?<br />Hypothesis: A hierarchical mothership (MS)/daughtership (DS) system can be applied to coverage control problems and is more efficient and scalable than a team of all MS or all DS.<br />Method: mathematical model and numerical simulation<br />Jason Durrie<br />
  13. 13. An agent based approach to music generation<br />Problem: generate nice music automatically<br />Hypothesis: A threshold agent based model where each agent represents a note on the piano is capable of creating “good” sounding music.<br />Approach: mathematical model and numerical simulation<br />Stephen Heck<br />
  14. 14. MROS: Multi-Robot Operating System<br />Problem: message passing in ROS limited to a single agent<br />Hypothesis: broadcast message proxies can turn local message bus into message graph<br />Implementation: Message proxy using BioNet<br />MarekSotola<br />
  15. 15. Smart Sand<br />Problem: Mapping hard to access environments<br />Hypothesis: We can reconstruct the topology and sensing landscape of a cavity using large numbers of smart spheres that can establish their local position<br />Method: implementation in ODE, analysis <br />Monish Prabhakar<br />
  16. 16. Towards Truly Soft Robots<br />Problem: Creating shape deformation and actuation from soft components<br />Hypothesis: Given a soft smart sheet composed of cells that can be individuallyactuated and that can as a result actively change its shape, it is possible to createarbitrary 3D polygons by combining and contorting the 1D sheets in novel ways<br />Method: Implementation of spring-mass model of actuator meshes in ODE<br />SwamyAnanthanarayan<br />
  17. 17. Optimal plant placement<br />Problem: place plants such that light and water are optimally used<br />Hypothesis: Genetic algorithms will outperform gradient-based optimization in strongly-coupled, non-linear dynamic systems<br />Method: Mathematical model, numerical simulation<br />Rhonda Hoenigman<br />
  18. 18. Implementation<br />Common resources/goals<br />Manipulation<br />Communication<br />Mobile base<br />ODE<br />Matlab<br />Create clusters and collaborate<br />
  19. 19. Project report<br />Motivation for your research<br />Hypothesis<br />Materials and Methods<br />Results<br />Discussion<br />Conclusion<br />
  20. 20. Scientific thesis in general<br />Principally you need a hypothesis and write a dissertation to defend it<br />The reality is often different<br />Investigate interesting problem and variations<br />Funding driven (not necessarily scientific)<br />Change in direction/advising<br />Solution: what is the most interesting question my material can answer? Drop all the rest.<br />
  21. 21. This week<br />Wednesday: Probabilistic Modeling<br />Friday: Start course projects<br />