Title:
Persistent Environmental Monitoring: Robots That Seemingly Do Nothing Most of the Time
Persistent Environmental Monitoring: Robots That Seemingly Do Nothing Most of the Time
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Author(s)
Egerstedt, Magnus B.
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Abstract
By now, we have a fairly good understanding of how to design coordinated control strategies for
making teams of mobile robots achieve geometric objectives in a distributed manner, such as
assembling shapes or covering areas. But, the mapping from high-level tasks to these geometric
objectives is not at all straightforward. In this talk, we investigate this topic in the context of
persistent autonomy, i.e., we consider teams of robots, deployed in an environment over a
sustained period of time, that can be recruited to perform a number of different tasks in a
distributed and safe, yet provably correct manner. This development will involve the composition of
multiple barrier certificates for encoding the tasks and safety constraints, as well as a detour into
ecology as a way of understanding how persistent environmental monitoring can be achieved by
studying animals with low-energy lifestyles, such as the three-toed sloth.
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Date Issued
2017-02-08
Extent
60:15 minutes
Resource Type
Moving Image
Resource Subtype
Lecture