An Overview of Formation Control and Localization for Multiple Robot Systems

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Title: An Overview of Formation Control and Localization for Multiple Robot Systems

Abstract:

Research on multi-robot systems has flourished over the last decades with a number of  theoretical and experimental results also made possible by the constant technological advancements in onboard sensing, communication and computing power. A scenario that still motivates considerable research efforts is that of decentralized formation control of multiple mobile robots based on only local (onboard) sensing and communication, with the aim of deploying highly autonomous robot teams in "non-trivial" environments (e.g., inside buildings, underwater, underground, or even in deep space) where centralized measuring/communication facilities (such as GPS) are not available

In this talk, I will review several recent results involving decentralized formation control and localization for groups of robots only relying on onboard sensing and (when necessary)local communication. The focus will be on distance sensors and bearing sensors (representative of onboard cameras).

Ce séminaire a lieu en salle i51 à l'ISTIC, le mercredi 29/09/2021 à 16h15. Séminaire ouvert à toutes et à tous, élèves et personnel de l'ENS Rennes et extérieurs, tous départements confondus. Obligatoire pour les élèves de 1re et 2e année du département informatique.