System Identification and Optimal Control of Swarm Robotic Systems
Speaker: Nikolaus Correll , Swarm-Intelligent Systems Group, Lausanne Switzerland
Date: July 19 2006
Time: 11:00AM to 12:00AM
Contact: Alise Kalemkiarian, 3-5817, email@example.com
For designing swarm robotic systems, understanding the relation between the
behavior of the individual swarm member and observed spatio-temporal
patterns on collective level is crucial.
We tackle this problem by modeling the robotic swarm on different levels of
abstraction: real robot experiments, different levels of simulation, and a
mean field approach based on difference equations that capture the robots'
population dynamics and relevant environmental states.
Using swarm robotic inspection as a case study, we show how to achieve
qualitative and quantitative correct model predictions for the
time to complete inspection, solely based on knowledge of the individual
robot's behavior and its interactions with team mates. Model predictions can
then be used for deriving optimal controllers for the individual robot.
See other events that are part of Robotics Seminar Series Spring 2006
See other events happening in July 2006