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CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2023/2024

Multi-robot aerial systems

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Code Completion Credits Range Language
BE3M33MRS Z,ZK 6 2P+2L English
Vztahy:
It is not possible to register for the course BE3M33MRS if the student is concurrently registered for or has already completed the course B3M33MRS (mutually exclusive courses).
During a review of study plans, the course B3M33MRS can be substituted for the course BE3M33MRS.
In order to register for the course BE3M33MRS, the student must have registered for the course BEEZM no later than in the same semester.
It is not possible to register for the course BE3M33MRS if the student is concurrently registered for or has previously completed the course B3M33MRS (mutually exclusive courses).
Garant předmětu:
Martin Saska
Lecturer:
Tomáš Báča, Robert Pěnička, Martin Saska
Tutor:
Tomáš Báča, Filip Novák, Pavel Petráček
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 2023/2024:
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.
Cvičebna Vyčichlova
Tue
Wed
roomKN:E-230
Petráček P.
Báča T.

12:45–14:15
(lecture parallel1
parallel nr.101)

Karlovo nám.
Laboratoř PC
Thu
Fri
Time-table for summer semester 2023/2024:
Time-table is not available yet
The course is a part of the following study plans:
Data valid to 2024-05-18
Aktualizace výše uvedených informací naleznete na adrese https://bilakniha.cvut.cz/en/predmet6653906.html