Multirobot Coordination: From High-level Specification to Correct Execution

Ayanian, Nora

Title:

Multirobot Coordination: From High-level Specification to Correct Execution

dc.contributor.author	Ayanian, Nora
dc.contributor.corporatename	Georgia Institute of Technology. Institute for Robotics and Intelligent Machine	en_US
dc.contributor.corporatename	University of Southern California. Computer Science Dept.	en_US
dc.date.accessioned	2015-12-09T15:31:51Z
dc.date.available	2015-12-09T15:31:51Z
dc.date.issued	2015-12-02
dc.description	Presented on December 2, 2015 at 12:00 p.m. in the TSRB Banquet Hall.	en_US
dc.description	Nora Ayanian is a Gabilan Assistant Professor of Computer Science at University of Southern California. Her research focuses on creating end-to-end solutions for coordinating teams of robots that start from truly high-level specifications and deliver code for individual robots in the team, such as using simple multitouch inputs to control a team of UAVs.
dc.description	Runtime: 53:09 minutes
dc.description.abstract	Using a group of robots in place of a single complex robot to accomplish a task has many benefits, including simplified system repair, less down time, and lower cost. Combining heterogeneous groups of these multi-robot systems allows addressing multiple subtasks in parallel, reducing the time it takes to address many problems, such as search and rescue, reconnaissance, and mine detection. These missions demand different roles for robots, necessitating a strategy for coordinated autonomy while respecting any constraints the environment may impose. Synthesis of control policies for heterogeneous multirobot systems is particularly challenging because of inter-robot constraints such as communication maintenance and collision avoidance, the need to coordinate robots within groups, and the dynamics of individual robots. I will present approaches to synthesizing feedback policies for navigating groups of robots in constrained environments. These approaches automatically and concurrently solve both the path planning and control synthesis problems, and are specified at a high level, for example, using an iPad interface to navigate a complex environment with a team of UAVs. I will also present some preliminary work on novel approaches to developing controllers for many types of multirobot tasks, by using crowdsourced multi-player game data.	en_US
dc.embargo.terms	null	en_US
dc.format.extent	53:09 minutes
dc.identifier.uri	http://hdl.handle.net/1853/54217
dc.relation.ispartofseries	IRIM Seminar Series
dc.subject	Multi-robot systems	en_US
dc.subject	Multi-robot tasks	en_US
dc.subject	Path planning	en_US
dc.subject	Robotics	en_US
dc.title	Multirobot Coordination: From High-level Specification to Correct Execution	en_US
dc.type	Moving Image
dc.type.genre	Lecture
dspace.entity.type	Publication
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
local.relation.ispartofseries	IRIM Seminar Series
relation.isOrgUnitOfPublication	66259949-abfd-45c2-9dcc-5a6f2c013bcf
relation.isSeriesOfPublication	9bcc24f0-cb07-4df8-9acb-94b7b80c1e46