This shows you the differences between two versions of the page.
| Both sides previous revision Previous revision | Next revision Both sides next revision | ||
|
teaching:mfe:ia [2011/03/22 14:48] stuetzle |
teaching:mfe:ia [2011/03/23 08:28] mdorigo [Studying collaboration between flying robots and ground-based robots] |
||
|---|---|---|---|
| Line 225: | Line 225: | ||
| * Contacts: [[http://iridia.ulb.ac.be/~mbiro|Mauro Birattari]], Marco Dorigo, Arne Brutschy, Giovanni Pini (IRIDIA) | * Contacts: [[http://iridia.ulb.ac.be/~mbiro|Mauro Birattari]], Marco Dorigo, Arne Brutschy, Giovanni Pini (IRIDIA) | ||
| - | ===== Studying collaboration between flying robots and ground-based robots ===== | + | ===== Collaboration between flying robots and ground-based robots ===== |
| - | In previous studies, it has been shown that multiple ground-based robots can autonomously form various patterns by attaching to each other. These robots used simple rule sets and local communication to form pre-defined or random patterns. In this thesis, the student will study how flying robots can collaborate with ground-based robots to select and control the pattern formation process. The student will implement the results of his study and various other algorithms that would facilitate such a collaboration. In order to gain a sound understanding of the matter, the student will first study and benchmark collaboration techniques used in existing robotic systems including flying and ground-based robots. | + | Current research in self-assembling robots mainly focuses on systems composed of identical (i.e., homogeneous) robots. In this thesis, however, we consider a system composed of robots with varying capabilities and different sensors. In particular, we consider a heterogeneous self-assembling system composed of both ground-based robots and flying robots. The ground-based robots can respond to various task contingencies by autonomously connecting to each other and forming collective structures. The flying robots can use their large field of view (from their elevated positions) to assist the ground-based robots in their tasks. |
| - | A possible candidate student must be very motivated, ready to invest extra hours into the thesis, and have a good grasp of C++. The working language is English. | + | In this thesis, the student will focus on the flying robots in the system. The student will explore how the flying robots can i) run internal simulations on possible connections between the ground-based robots to determine the response structure to a task and ii) apply machine learning techniques to let the flying robot use previous, successful experiences to learn about tasks and their possible response structures. The results of the study can be tested on real flying and ground-based robots. |
| + | |||
| + | Concrete ideas will be developed together with the student. A candidate student must be very motivated, independent, have a good knowledge of machine learning techniques, and have a good grasp of C++. The working language is English. | ||
| * Contacts: [[http://iridia.ulb.ac.be/~mbiro|Mauro Birattari]], Marco Dorigo, Nithin Mathews (IRIDIA) | * Contacts: [[http://iridia.ulb.ac.be/~mbiro|Mauro Birattari]], Marco Dorigo, Nithin Mathews (IRIDIA) | ||