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teaching:mfe:ia [2012/03/21 16:05] mdorigo Edited projects in swarm robotics 2012-2012 |
teaching:mfe:ia [2012/03/21 16:11] mdorigo [Self-organized visual coverage in a swarm of robots] |
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| checking to formally verify properties of a collective behavior of a | checking to formally verify properties of a collective behavior of a | ||
| robot swarm. Verifying that a system behaves as desired in all | robot swarm. Verifying that a system behaves as desired in all | ||
| - | possible situations is necessary when autonomous robots are involved. | + | possible situations is necessary when autonomous robots are involved. |
| This is particularly true in swarm robotics systems, where the | This is particularly true in swarm robotics systems, where the | ||
| interactions of large number of individuals can result in behaviors | interactions of large number of individuals can result in behaviors | ||
| Line 208: | Line 208: | ||
| computationally impossible to analyze. | computationally impossible to analyze. | ||
| - | The goal of this thesis is to apply a novel model checking technique, | + | This thesis is will explore the application of a novel model checking technique, called statistical model checking, to formally verify a swarm robotics system. A collective behavior will be firstly implemented in |
| - | called statistical model checking, to formally verify a swarm robotics | + | |
| - | system. A collective behavior will be firstly implemented in | + | |
| simulation and then analyzed through statistical model checking. | simulation and then analyzed through statistical model checking. | ||
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| ===== Self-organized visual coverage in a swarm of robots ===== | ===== Self-organized visual coverage in a swarm of robots ===== | ||
| - | Systems composed of several inter-connected cameras are already a reality in | + | Systems composed of several inter-connected cameras are already a reality in our everyday lives. The prime application of such systems is video-surveillance, but the possibilities off ered by multiple-camera systems can extend to other interesting scenarios, such as environment mapping, 3D shape-reconstruction and object recognition. In all these scenarios, the problem of finding the right |
| - | our everyday lives. The prime application of such systems is video-surveillance, | + | position of a set of cameras in order to maximize the visual field, or the amount of information available, is not always a simple one. Furthermore, systems consisting of cameras in a fixed position present obvious issues of robustness and flexibility. |
| - | but the possibilities o ered from multiple-camera systems can extend to other | + | Multi-robots systems can provide an interesting mean to overcome this issues. Robots navigating in the enviroment can change their position as a result of changes in the enviroment or in the overall system's objective. A centralized control solution for these systems is still not a desirable one, as it introduces a single point of failure and it can suff er from performance issues. |
| - | interesting objectives, such as environment mapping, 3D shape-reconstruction | + | The Swarm Robotics paradigm o ffers a valid approach to the design of a multiple camera system. In this project, we want to study the possibility to develop a control strategy that enables a swarm of robots to position themselves into an unknown environment, maximizing the area covered by their visual fields, while relying only on their image processing system and on local communication. |
| - | and object recognition. In all these scenarios, the problem of nding the right | + | |
| - | position of a set of cameras in order to maximize the visual eld, or the amount | + | |
| - | of information available, is not always a simple one. Furthermore, systems | + | |
| - | consisting of cameras in a xed position present obvious issues of robustness | + | |
| - | and exibility. | + | |
| - | Multi-robots systems can provide an interesting mean to overcome this is- | + | |
| - | sues. Robots navigating in the enviroment can change their position as a result | + | |
| - | of changes in the enviroment or in the overall system's objective. A centralized | + | |
| - | control solution for these systems is still not a desirable one, as it introduces a | + | |
| - | single point of failure and it can su er from performance issues. | + | |
| - | The Swarm Robotics paradigm o ers a valid approach to the design of a mul- | + | |
| - | tiple camera system. In this project, we want to study the possibility to develop | + | |
| - | a control strategy that enables a swarm of robots to position themselves into an | + | |
| - | unknown environment, maximizing the area covered by their visual elds, while | + | |
| - | relying only on their image processing system and on local communication. | + | |
| - | Requirements: The candidates should be acquainted with C/C++ programming and have a | + | Required skills: The candidate should be acquainted with C/C++ programming and have a |
| working knowledge of the English language. | working knowledge of the English language. | ||