On Distributed Coordination in Robotic Networks: Gossip Coverage and Frontier-based Pursuit
Speaker: Joseph Durham , University of California at Santa Barbara
Date: February 5 2010
Time: 10:00AM to 11:00AM
Location: 32-G449 (Patil/Kiva)
Host: Daniela Rus, DRL - CSAIL
Contact: Kathy Bates, 617-253-5817, kbates@csail.mit.edu
Relevant URL: http://motion.me.ucsb.edu/%7Ejoey/Abstract:
In this talk, I present a general model for distributed robotic networks and describe our implementation of two particular algorithms to run on hardware. The first example is a discrete coverage control algorithm for gossiping robots, where the goal is to deploy a team of robots to provide coverage of a discretized environment represented by a graph. The algorithm provably converges to a centroidal Voronoi partition while requiring only pairwise "gossip" communication. My second example is a distributed pursuit-evasion algorithm inspired by frontier-based exploration methods. In this algorithm, a team of robots with limited range sensors collaborate to clear an environment of any evaders through distributed storage and updating of the global frontier between cleared and contaminated areas. I conclude with a preview of our ongoing work in both of these directions.
About the speaker:
Joseph Durham is currently a Ph.D. candidate developing distributed algorithms for teams of robots in the Mechanical Engineering Department at the University of California at Santa Barbara. His research interests are in efficient and scalable robotic algorithms which can be implemented in hardware. He received a B.A. in Physics from Carleton College in 2004 and a M.S. from the University of California at Santa Barbara in 2007.
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