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CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2021/2022

Multi-robot aerial systems

The course is not on the list Without time-table
Code Completion Credits Range Language
B3M33MRS Z,ZK 6 2P+2L Czech
Corequisite:
Safety in Electrical Engineering for a master´s degree (BEZM)
The course cannot be taken simultaneously with:
Multi-robot aerial systems (BE3M33MRS)
Lecturer:
Martin Saska (guarantor)
Tutor:
Martin Saska (guarantor)
Supervisor:
Department of Cybernetics
Synopsis:

The course offers the introduction to multirotor autonomous aerial systems (UAV). Standard senzors and principles of estimate and control of UAV will be introduced. The problems of motion planning, path planning, localization, mapping and exploration will be discussed for sigle moving UAV as well as multiple UAVs moving in a formation.

Requirements:
Syllabus of lectures:

1. Autonomous aerial system, architectures and taxonomies (sensors, actuators, applications; fixed wing, multirotor, VTOL - convertibles, ...)

2. Multirotor helicopter dynamics model, control, motion planning

3. Multirotor helicopter state estimation and localization

4. Single aerial robot mapping and planning

5. Multi-robot architectures and taxonomies (centralized, decentralized and distributed...).

6. Multi-robot planning, mapping and exploration

7. Formation control (leader-follower, virtual structures, time-varying topology, connectivity maintenance, pursuit - evader, steady-state and bearing-based formations)

8. Behavior-based systems (swarm robotics, bio-inspired flocking algorithms)

9. Cooperative localization of team members (nearby robots)

10. Communication architectures and communication issues in reactive multi-robot systems

11. Failure detection, recovery, reconfiguration in aerial systems

12. Transportation and manipulation by aerial robots

13. Task assignment, consensus, collective decision-making

14. Multi-robot learning - Learning to coordinate

Syllabus of tutorials:

Students work on practical tasks from teachers.

Study Objective:
Study materials:

Siciliano, B. and Khatib, O. (2016) Springer handbook of robotics. Springer.

Topics related directly to multirotor aerial platforms may be studied from

Franck Cazaurang Kelly Cohen Manish Kumar (2020) Multi-rotor Platform Based UAV Systems. Elsevier.

An overview of swarming approaches can be found in

Heiko Hamann (2018) Swarm Robotics: A Formal Approach. Springer.

Classical graph-based approaches designed for multi-robot systems can be found in

Mesbahi, M. and Egerstedt, M. (2010) Graph theoretic methods in multiagent networks. Princeton University Press.

Note:
Further information:
No time-table has been prepared for this course
The course is a part of the following study plans:
Data valid to 2022-08-08
For updated information see http://bilakniha.cvut.cz/en/predmet6652206.html