Wednesday, March 4
11:00 AM - 12:00 PM EST (UTC/GMT-5)
Technological advances have enabled the design of robotic swarms such as teams of interconnected vehicles. A major research area in robotic swarms is the development of distributed communication rules and coordination control algorithms such that robot teams perform given operations through local interactions. The key feature of utilizing local interactions is to ensure robustness and scalability of the closed-loop robotic swarm systems. While distributed control algorithms are important to effectively support a wide array of civilian and military operations that range from collaborative surveillance and reconnaissance to guidance and control of underwater, ground, aerial, and space vehicle teams, several scientific knowledge gaps currently inhibit this endeavor.
In this seminar, we will focus on critical challenges related to control of robotic swarms such as presence of environmental disturbances and modeling uncertainties, limited actuation and unmodeled dynamics, lack of controllability and observability, heterogeneity, temporal constraints, and human interactions, and present hierarchical distributed control system architectures to allow teams of robots accomplish given operations with stability and performance guarantees. The presented system-theoretical findings will be also supported by experimental results in order to bridge the theory-practice gap.