Fiche de ABU-AISHEH Razanne

Titre : Context-Aware Information Gathering and Processing Towards Supporting Autonomous Systems in Industry 4.0 Scenarios
Date : 27 février 2023
Heure: 14:00
Résumé : In this thesis, we investigate the impact of communication awareness on the performance of multi-robot exploration and mapping expeditions. We propose Atlas, an exploration and mapping algorithm that natively takes packet loss into account, with a 100% completion ratio even with Packet Delivery Ratios (PDRs) as low as 0.1. However, Atlas on its own cannot handle scenarios where connectivity is completely lost. It also adds a significant delay to the completion of the mission. One solution is relay placement. We propose “Connectivity Aware Relay Algorithm” (CARA), a dynamic context-aware relay placement algorithm that does not require any prior knowledge of the environment. Using both Atlas and CARA results in a dynamic context-aware multi-robot expedition that autonomously builds a map of a fully unknown environment, while dynamically placing relays when needed to maintain connectivity that outperforms state-of-the-art algorithms, in terms of time to completion, by a factor of 10.
Lieu : Inria -Paris, salle Louis Lions