Multi-robot aerial systems

Relations:

In order to register for the course B3M33MRS, the student must have registered for the course BEZM no later than in the same semester.

It is not possible to register for the course B3M33MRS if the student is concurrently registered for or has already completed the course BE3M33MRS (mutually exclusive courses).

It is not possible to register for the course B3M33MRS if the student is concurrently registered for or has previously completed the course BE3M33MRS (mutually exclusive courses).

The requirement for course B3M33MRS can be fulfilled by substitution with the course BE3M33MRS.

Course guarantor:

Martin Saska

Lecturer:

Tomáš Báča, Robert Pěnička, Martin Saska

Tutor:

Tomáš Báča, Martin Jiroušek, Michal Werner

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:

https://cw.fel.cvut.cz/wiki/courses/mrs/start

Time-table for winter semester 2024/2025:

	06:00–08:0008:00–10:0010:00–12:0012:00–14:0014:00–16:0016:00–18:0018:00–20:0020:00–22:0022:00–24:00
Mon	roomKN:E-112 Saska M. Báča T. 09:15–10:45 (lecture parallel1) Karlovo nám.
Tue
Wed	roomKN:E-230 Jiroušek M. Werner M. 12:45–14:15 (lecture parallel1 parallel nr.101) Karlovo nám. roomKN:E-230 Jiroušek M. Werner M. 14:30–16:00 (lecture parallel1 parallel nr.102) Karlovo nám.
Thu
Fri

Time-table for summer semester 2024/2025:

Time-table is not available yet

The course is a part of the following study plans:

• Cybernetics and Robotics (compulsory elective course)