Control and Coordination for a Network of
Ground and Aerial Robots
Professor of Mechanical Engineering and Applied Mechanics
and Department of Computer and Information Science
The talk addresses the basic problems in the organization, coordination and cooperation in a team of mobile robots equipped with sensors and wireless network cards. I will discuss algorithms for discovery, cooperative localization and cooperative control. Discovery involves the use of sensory information to organize the robots into a mobile network allowing each robot to establish its neighbors and, when necessary, one or more leaders. Cooperative control is the task of achieving a desired formation shape and maintaining it. Cooperative localization allows each robot to estimate its relative position and orientation with respect to its neighbors and hence the formation shape. Finally, I'll present analytical and experimental results for a team of nonholonomic, wheeled robots with omnidirectional cameras, with applications to cooperative mapping and manipulation tasks.
VIJAY KUMAR received his M.Sc. and Ph.D. in Mechanical Engineering from The Ohio State University in 1985 and 1987 respectively. He has been on the Faculty in the Department of Mechanical Engineering and Applied Mechanics with a secondary appointment in the Department of Computer and Information Science at the