Loading Events
  • This event has passed.

« All Events

Hector Garcia de Marina (University of Granada), “Practical challenges in formation control and mobile robot swarms”

11 April @ 10:00 am - 11:00 am

Details

Date:
11 April
Time:
10:00 am - 11:00 am
Event Category:

Venue

MAR 2.057

Abstract:

Robot swarms have the potential to assist us with simpler logistics in persistent missions involving vast scenarios. Robot swarms also promise added resilience to complete their objectives despite unforeseen difficulties. However, current demonstrations of swarm technology in unstructured environments only count on single-digit individuals. That is farther from what one would expect from the huge scaling potential of a swarm. What are the bottlenecks then?

In this talk, I will present some practical challenges that mobile robot swarms face in fundamental tasks, e.g., the control of specific geometry parameters during a swarm deployment, also known as formation control. As an application of higher-level tasks leveraging formation control, we will see the coordination of robots while tracking paths and the source-seeking of scalar fields.

I will also focus on onboard imperfections and how they are responsible for non-designed emergent behavior. Nevertheless, I will show some hidden opportunities within the imperfections that could assist us with practical deployments.

Related articles (free links to Arxiv):
Maneuvering and robustness issues in undirected displacement-consensus-based formation control: https://arxiv.org/abs/2008.03544
Guiding vector fields for the distributed motion coordination of mobile robots: https://arxiv.org/abs/2209.09478v4
Resilient source seeking with robot swarms: https://arxiv.org/abs/2309.02937
Behavioral-based circular formation control for robot swarms: https://arxiv.org/abs/2309.09101

This talk will take place in person at SCIoI.

Photo by Louis Reed on Unsplash.

 

Details

Date:
11 April
Time:
10:00 am - 11:00 am
Event Category:

Venue

MAR 2.057