Networked Robots: Coordination and Control

Principal Investigator: Professor Lin

AWaRE REU Researcher: Dillon Falkinburg, University of Nebraska – Lincoln

Contributors: Vincent Kurtz

 

Project Summary:

This REU project aims to develop a team of robotic systems that can accomplish complex team missions even in the face of uncertain and dynamic environments. Applications that motivate this project include, but not limited to, emergency response, future manufacturing systems, and service robots. In this REU project, we will touch topics on both hardware/software development and theoretical/algorithm design, such as communication-aware coordinated motion planning, sensing, task planning through formal methods, a counterexample-guided synthesis which combines logic inference with optimization.

Finding:

Developed algorithms to synthesize robust trajectories, and to adapt the trajectories during run-time to deal with unknown obstacles or other agents in the environment. Implemented these algorithms in real robotic platforms, such as Pioneer 3AT/3DX and Baxter.