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--- teaching:mfe:ia [2012/03/21 16:05]
mdorigo Edited projects in swarm robotics 2012-2012
+++ teaching:mfe:ia [2012/03/22 17:21]
mdorigo Added one project in robotics
@@ Line 200: / Line 200: @@
 checking to formally verify properties of a collective behavior of a
 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
 interactions of large number of individuals can result in behaviors
@@ Line 208: / Line 208: @@
 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.
@@ Line 240: / Line 238: @@
 programming, have a good knowledge of formal specification and UML,
 and have a working knowledge of the English language.
+  * Contacts : [[http://iridia.ulb.ac.be/~mbiro|Mauro Birattari]] and Manuele Brambilla (IRIDIA)
+===== A GUI for debugging the behavior of a robot swarm =====
+Debugging a robot swarm is a complex and difficult task.
+The desired behavior of the swarm is the result of the complex
+non-linear interactions of tens or hundreds of robots. When
+implementing a swarm robotics system, very often it is necessary to
+analyze individually the output of the execution of each robot, a very
+long and boring process. Since the goal of the developer is to obtain
+a specific collective behavior, it would be better to debug the system
+at the collective level and, only if necessary, at the individual
+level.
+In this thesis we will analyze a possible way to debug the collective
+behavior of a swarm of robots, using macroscopic and microscopic
+modeling. The goal is to develop a GUI that shows the state of the
+collective behavior of the system, and if the user requires it, the
+state of a single robot. We will start with a version of the debugging
+GUI that interface with the ARGoS simulator and eventually one that
+interfaces with the real robots.
+Required skills: the candidates should be acquainted with C/C++
+programming, GUI programming (QT/C++ or QT/Python or Java) and have a
+working knowledge of the English language.
   * Contacts : [[http://iridia.ulb.ac.be/~mbiro|Mauro Birattari]] and Manuele Brambilla (IRIDIA)
@@ Line 281: / Line 307: @@
 ===== 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 offered 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 oered 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 suffer from performance issues.
-interesting objectives, such as environment mapping, 3D shape-reconstruction
+The Swarm Robotics paradigm offers 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 suer from performance issues.
-The Swarm Robotics paradigm oers 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.