SCALABLE AND RESILIENT COORDINATION OF MULTI-ROBOT TEAMS (EQUIPMENT)
Abstract
This proposal requests funds to acquire a team of mobile robots and equipment that will enable us to conduct studies and test hypotheses about experimental performance of our behavior composition algorithms for complex missions and benchmark their performance in uncertain and dynamic environments. This equipment will enable us to: (a) use real platforms rather than simulations, (b) analyze the performance of different mixtures of heterogeneous platforms in combinations needed for diverse missions, and (c) analyze resilience of our algorithms by changing in a controlled manner the robots’ computational and sensory-motor capabilities. These studies will result in (1) generalizable algorithms that consider realistic operational constraints for swarm behavior composition to accomplish specified missions that can be used in multiple national priority applications; (2) performance metrics of multi-robot control; (3) development and testing of multirobot algorithms that can generate new research paths, (4) sensitivity analyses, parameters, their trade-offs and influence on mission performance; and (5) value-added training and education for students.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 12, 2021
- Source ID
- FA95502010378
Entities
People
- Katia Sycara
Organizations
- Air Force Office of Scientific Research
- Carnegie Mellon University
- United States Air Force