Paper Submitted to CDC 2017. Download the video.
This project aims to formulate a motion strategy that allows robots to safely handle critical communication failures in multi-robot systems where a central decision maker is specifying the movement of each individual robot. For each robot, the proposed algorithm computes a time horizon over which collisions with other robots are guaranteed not to occur. These safe time horizons are included in the commands being […]
Agricultural automation presents challenges typically encountered in the realm of cyber-physical systems, such as incomplete information (plant health indicators), external disturbances (weather), limited control authority (fertilizers cannot make a plant mature arbitrarily fast), and a combination of discrete events and continuous plant dynamics. In this project, we focus on the particular problem of optimal pesticide spray […]
This project aims to formulate the homogeneous two- and three-dimensional self-reconfiguration problem over discrete grids as a constrained potential game. We develop a game-theoretic learning algorithm based on the Metropolis-Hastings algorithm that solves the self-reconfiguration problem in a globally optimal fashion. Both a centralized and a fully decentralized algorithm are presented and we show that […]
How one single operator should influence the performance of a large group of robots is not a simple question in that it depends on various factors, including the size and composition of the team as well as the objective task to be performed. This work introduces music theory as a new approach for multi-robot control […]
Trust- based coordination occurs when a team of robots and possibly humans have to work together to achieve some goal, but each robot (and/or human) may not trust all of the other robots (and/or humans). If a robot doesn’t trust one of its neighbors, it may not want to heavily weight the information obtained from […]
Multi-robotic testbeds are an integral part of multi-agent research, yet they are expensive to develop and operate. This in turn makes them unaffordable for most but a select few researchers at well-endowed universities, slows the rate of progress of multi-agent research, and limits the number of educational multi-robot tools available to students. The goal of […]
When designing coordinated controllers for teams of mobile robots, the primary control objective tends to drive the behavior of the team so as to realize tasks such as achieving and maintaining formations, covering areas, or collective transport. Safety, in terms of collision avoidance is added as a secondary controller to override the controller when collision […]
The goal of the GRITSBot project is to make multi-agent experiments more accessible to the research community at large as well as to students of all age groups (highschool, undergraduate education, as well as graduate education). In a further step, we intend to open up a show testbed to the general public. Revision 1 of […]
The objective of this research is to develop decentralized methods for achieving robustness in multi-agent networks through self-organization. Multi-agent networks typically consist of numerous components that interact with each other to achieve some collaborative tasks. In many applications, the network may face functional or structural challenges such as failures, noise, or malicious attacks, to name a few. Under such perturbations, a desirable […]
We approach the problem of having robots mix, or interact with each other consistently in the same space, by borrowing concepts from algebraic topology, namely from the Braid Group.
Sim.I.am is a mobile robot simulator designed to allow students to bridge the gap between theory and practice in control theory. It enables students to design controllers for a mobile robot, test these controllers in a simulator, and then deploy these controllers on an actual robotic platform: the Khepera III mobile robot (and others). This […]
What is the minimum amount of information required by a team of networked agents to solve a geometric task? This notion of minimality is explored through the use of set-valued sensors, and the question then becomes what assumptions need to be made on these sensor models. In fact, the set-valued sensor provides a general model […]
In this project, optimal coverage ideas are used to control a multi-agent system. In optimal coverage, we are concerned with finding the algorithm that will drive the agents to position themselves in ‘best’ locations, when given a certain density function that represents spatial ‘importance’. For example, this density function may be a probability density function of […]
As the trends towards decentralization, miniaturization, and longevity of deployment continue in many domains, power management has become increasingly important. In sensing and communications networks, power management has long been a part of the design paradigm. However, an underlying assumption in most of the existing work is that the performance of the sensing devices remain […]
This project develops a novel approach for heterogeneous self-reconfiguration of a modular robot comprised of heterogeneous cubic modules. We allow an arbitrary number of modules and module classes and show that the proposed self-reconfiguration algorithm can guarantee completion of heterogeneous self-reconfiguration sequences by avoiding so-called hole obstructions. We introduce a hole-detection algorithm to avoid creating […]
In networked systems, a designer often has a higher level goal in mind which he wants to achieve with local rules. Examples of possible goals are rendezvous and formation control. This project aims to find general methods by which arbitrary global behaviors can be mapped on to local network interactions. Initial work has shown that […]
In the case of leader-follower networks, one or more agents (the leaders) can be used to inject control inputs into the system. In these networks, one can analyze the “effectiveness” of the inputs by borrowing a notion from robotics known as manipulability. In robotics, manipulability indices were developed as a means to analyze the […]
Several Next Generation Air Transportation Systems concepts require aircraft to be able to safely fly routes on the same airspace in a timely fashion. Therefore it is necessary that aircraft are able to navigate on routes with spatial and temporal constraints. Here at the GRITS Lab, we propose an optimal control approach at solving the problem.
Many tasks to be solved by multi-agent systems can be formed in terms of a cost, where task completion corresponds to minimizing the cost. For example, the figure below depicts multi-agent formation control where agents must collectively decide upon parameters of the formation (such as displacement, rotation, and spread) while moving into position. By having […]