This shows you the differences between two versions of the page.
| Both sides previous revision Previous revision Next revision | Previous revision Next revision Both sides next revision | ||
|
teaching:mfe:ia [2012/03/21 16:07] mdorigo [Formal verification of a swarm robotics behavior through statistical model checking] |
teaching:mfe:ia [2012/03/22 17:21] mdorigo Added one project in robotics |
||
|---|---|---|---|
| Line 238: | Line 238: | ||
| programming, have a good knowledge of formal specification and UML, | programming, have a good knowledge of formal specification and UML, | ||
| and have a working knowledge of the English language. | 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) | * Contacts : [[http://iridia.ulb.ac.be/~mbiro|Mauro Birattari]] and Manuele Brambilla (IRIDIA) | ||
| Line 279: | Line 307: | ||
| ===== 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. | ||