Description:
Scenarios such as Urban search and rescue or multi-agent exploration of an unknown terrain often lack infrastructure to support communication. An ad-hoc network could be created using cheap mobile router nodes/robots. In such networks, problems such as
- 1) Finding optimal router locations that maximize the coverage area ensuring connectivity
- 2) Strategies for relocation to cope with the broken links and to attain better network topology
- 3) Time Synchronization in swarm robotics
are interesting.
Expected participants:
Students interested in algorithm design and implementation and interested to work with real robots.
Resources:
Bebot Robots, Teleworkbench, Robotic simulators
Tasks:
- 1) Test basic behaviors using Bebot robots in the Teleworkbench environment
- 2) Algorithm Implementation:
a) State of the art coverage algorithms like area coverage using virtual potential fields, dynamic coverage based on Voronoi decomposition
b) Self organized coverage and relocation algorithm - 3) Time Synchronization in swarm robotics cooprative tasks
Tasks Assignment
| Last Name | First Name | Tasks | Specific Tasks | Notes |
| Garimella | Vinkat Rakesh | Autonomous Robots Deployment | Self deployment algorithms in wireless sensor networks | Hardware |
| Wei | Cao | Autonomous Robots Deployment | Coverage exploiting mobility | Hardware |
| Mathew | Ciby | Autonomous Robots Deployment | Coverage and Connectivity in static sensor network | Simulation |
| Tsafack | Vidal | Autonomous Robots Deployment | Computational geometric algorithms for coverage and connectivity (E.g. Art gallery) | Simulation |
| Graf | Tobias | Autonomous Robots Relocation | Biologically inspired relocation algorithms (for mobile sensor networks, swarm robots) | |
| Kannappan | Siva Shankar | Autonomous Robots Relocation | Dynamic coverage in wireless sensor networks (Check if connectivity is guaranteed ?) | |
| Kulathunga | Kosala Suranga Sanjaya Bandara | Autonomous Robots Relocation | Relocation in wireless sensor networks (focus - Computational geometric algorithms e.g Voronoi) | |
| Shehadea | Osama | Multi-robot Communication | Geographic routing → greedy forwarding – focus mobile networks | |
| Abshoff | Sebastian | Multi-robot Communication | Swarm Intelligence based routing protocol for mobile ad-hoc networks | |
| Benter | Markus | Multi-robot Communication | Geographic routing → void handling (general + approaches that works with mobility ) | |
| Weiß | Fabian | Time Synchronization | Time Synchronization (Sender-Receiver approaches) | |
| Micus | Sebastian | Time Synchronization | Time Synchronization (Receiver-Receiver approaches) |
Seminar Presentations
| Presentation/Break | Begin | Total Duration | Personal Duration | Personal Detailed Time | Ends | Remarks |
| Deployment of Autonomous Robots | 03.12.2010 -- 02:00 PM | 2:20 | 35 min | 10 min (introduction + state of the art) / 15 min specific protocols / 10 min discussion | 4:20 PM | Personal discussion for 10 min will take place after the 15 min presentation of specific protocols individually |
| Break | 4:20 PM | 10 min | -- | -- | 4:30 PM | |
| Relocation of Autonomous Robots | 03.12.2010 -- 04:30 PM | 1:45 | 35 min | 10 min (introduction + state of the art) / 15 min specific protocols / 10 min discussion | 6:15 PM | Personal discussion for 10 min will take place after the 15 min presentation of specific protocols individually |
| Multi-robot Communication | 04.12.2010 -- 09:00 AM | 1:45 | 35 min | 10 min (introduction + state of the art) / 15 min specific protocols / 10 min discussion | 10:45 AM | Personal discussion for 10 min will take place after the 15 min presentation of specific protocols individually |
| Break | 10:45 AM | 15 min | -- | -- | 11:00 AM | |
| Time Synchronization | 04.12.2010 -- 11:00 AM | 1:10 | 35 min | 10 min (introduction + state of the art) / 15 min specific protocols / 10 min discussion | 12:10 PM | Personal discussion for 10 min will take place after the 15 min presentation of specific protocols individually |
| Group | Monday | Tuesday | Wednesday | Thursday | Friday | Saturday | Sunday |
| Autonomous Robots Deployment (4) | 2:00 PM - 4:00 PM | ||||||
| Autonomous Robots Relocation (3) | 11:00 AM - 01:00 PM | ||||||
| Multi-robot Communication (3) | |||||||
| Time Synchronization (2) | 08:00 AM - 06:00 PM | 08:00 AM - 06:00 PM | 08:00 AM - 06:00 PM | 08:00 AM - 06:00 PM |
Seminar Term Paper
- Each needs to submit 10 pages about his specific topic
- Submission Deadline: 4th of January 2011
Dates
- Weekly Meeting: each week on Monday at 6:15 PM at F1.406
- Seminar first phase: Friday the 3th of December / 2:00 PM - 6:00 PM
- Seminar second phase: Satuday the 4th of December/ 9:00 AM - 12:00 PM
- Seminar Term Paper Submission: 4th of January 2011
Protocols
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Project Status Reports
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Presentations
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Seminar Presentations
- Deployment of Autonomous Robots
- Relocation of Autonomous Robots
- Time Synchronization
- Multi-robot Communication
Seminar Reports
- Autonomous Robots Deployment:
- Autonomous Robots Relocation:
- Multi-robot Communication:
- Time Synchronization:
Crash Course Control architectures
- Crash Course Control architectures 1: given by Yara
- Crash Course Control architectures 2: given by Emi
