Description
Date depot: 14 avril 2022
Titre: Communication aware coordination of multi-robot systems
Directeur de thèse:
Thomas WATTEYNE (Inria-Paris (ED-130))
Encadrant :
Filip MAKSIMOVIC (Inria-Paris (ED-130))
Domaine scientifique: Sciences et technologies de l'information et de la communication
Thématique CNRS : Systèmes et réseaux
Resumé: Multi-robot systems have recently become a significant area of research with applications in search and rescue, environmental monitoring, industrial and warehouse robotics, and coordination of self driving vehicles. Existing theoretical research in multi-robot systems is limited to a simplistic and unrealistic model for communication, and previous hardware research is often limited by their application specific nature and by their high cost.
In this work, we propose to perform an experimental comparison of distributed and centralized multi-robotic control paradigms with an emphasis on exploring the effects of a non ideal wireless communication channel. Furthermore, we propose to develop communication aware algorithms for coordination of robotic swarms as applied to self driving convoys and warehouse robots.
Doctorant.e: Alvarado-Marin Said