A PARAMETERIZED MODEL FOR SUPPORTING SELF-ORGANIZATION IN MULTI-ROBOT NETWORKS

• Grant number: 17/02055-8
• Support Opportunities: Regular Research Grants
• Start date: November 01, 2017
• End date: October 31, 2019
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computing Methodologies and Techniques
• Principal Investigator: Carlos Henrique Costa Ribeiro
• Grantee: Carlos Henrique Costa Ribeiro
• Host Institution: Divisão de Ciência da Computação (IEC). Instituto Tecnológico de Aeronáutica (ITA). São José dos Campos , SP, Brazil
• City of the host institution: São José dos Campos

Abstract

The availability of robust and power-efficient robotic devices boosts their use in a wide range of applications, most of them unfeasible in the recent past due to environmental restrictions or hazard to humans. Nowadays, robots can support or perform missions of search and rescue, exploration,surveillance and reconnaissance,or provide a communication infrastructure to clients when there is no network infrastructure available. In general,these applications require efficient and multi-objective teamwork. Our work in this project is to design and test, in different scenarios, a general model for distributed robotic control that considers different task objectives depending on the application domain. As a starting point, our research group has already developed techniques that combine distributed connectivity maintenance and failure mitigation for mobile robotic teams, two important features for domains that require establishing an ad hoc communication network whilst tackling possible robotic failures that could potentially disconnect the network and thus reduce collaborative task achievement. The proposed model will extend such techniques to a more general model that can be adapted to different domains, with simulation tests in a UAV stealth scenario and simulation and real settings in a robotic communication coverage scenario. Formal development of the parametrized model w.r.t. convergence and performance bounds will also be conducted. (AU)

Scientific publications

(6)

(The scientific publications listed on this page originate from the Web of Science or SciELO databases. Their authors have cited FAPESP grant or fellowship project numbers awarded to Principal Investigators or Fellowship Recipients, whether or not they are among the authors. This information is collected automatically and retrieved directly from those bibliometric databases.)

ROCHA, ISRAEL C. S.; RIBEIRO, CARLOS H. C.; GHEDINI, CINARA. Effectiveness of Embedded Topology Controllers in a Multi-robot Network. IFAC PAPERSONLINE, v. 53, n. 2, p. 6-pg., 2020-01-01. (17/02055-8)

MAXIMO, MARCOS R. O. A.; RIBEIRO, CARLOS H. C.; AFONSO, RUBENS J. M.. Real-time walking step timing adaptation by restricting duration decision for the first footstep. ADVANCED ROBOTICS, v. 34, n. 21-22, p. 22-pg., 2020-10-06. (16/03647-3, 17/02055-8)

BORGES, NICOLAS PEREIRA; GHEDINI, CINARA G.; COSTA RIBEIRO, CARLOS HENRIQUE; ROCHA, A; PEREIRA, RP. Evaluating Trail Formation in Collaborative UAV Networks with Lethal Threats. DEVELOPMENTS AND ADVANCES IN DEFENSE AND SECURITY, v. 152, p. 11-pg., 2020-01-01. (17/02055-8)

BORGES, NICOLAS PEREIRA; GHEDINI, CINARA GUELLNER; RIBEIRO, CARLOS HENRIQUE COSTA. Mitigating Risk in UAV Aid Delivery Missions: A Safe Path Prioritization Approach. IEEE ACCESS, v. 12, p. 14-pg., 2024-01-01. (17/02055-8)

MAXIMO, MARCOS R. O. A.; RIBEIRO, CARLOS H. C.; AFONSO, RUBENS J. M.. Real-time walking step timing adaptation by restricting duration decision for the first footstep. ADVANCED ROBOTICS, v. 34, n. 21-22, SI, p. 1420-1441, NOV 16 2020. (16/03647-3, 17/02055-8)

BORGES, NICOLAS PEREIRA; GHEDINI, CINARA GUELLNER; COSTA RIBEIRO, CARLOS HENRIQUE; IEEE. SUN - Stealth UAV Networks: A cooperative local model to mitigate UAVs exposure to threats. 2019 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC), v. N/A, p. 8-pg., 2019-01-01. (17/02055-8)