OpenCourseWare: Multi-robot systems

Contenidos (Materials)

• Presentation and Introduction (Week W1)
  

• W1: The work associated to this week consists of the following tasks: Page

  • Read the general information provided at moodle about the course
    
  • Read "Presentation and Introduction"
  • Visit the links provided to get a better understanding of classical multi-robot problems and possible applications
  • Install the software environment

  
  

• Presentation and Introduction File 1.8MB
• Robot swarms (Weeks W2 to W5)
  

• W2 to W5: The work associated to each week consists of the following tasks: Page

  • W2: Read "Introduction to Swarm Robotics", and visit the links provided
    
  • W3: Read "Flocking with Boids" and "Voronoids", and visit the links provided
  • W4: Read the description of the software environment (file "SmallWorld2D and exercises"), install it, and start solving exercises
  • W5: Continue with exercises (file "SmallWorld2D and exercises")
    

  
  

• Introduction to Swarm Robotics File 5.4MB
• Flocking with Boids File 717.1KB
• Voronoids File 1.1MB
• SmallWorld2D and exercises File 455.4KB
• The consensus problem (Weeks W6 to W9)
  

• W6 to W9: The work associated to each week consists of the following tasks: Page

  • W6: Finish the work in progress associated to the previous part "Robot Swarms": Brief report (about 1500 words) and code of the exercises and lab assignments, mandatory parts. Read the document "Framework" associated to the current part "The consensus problem", included the links provided
    
  • W7: Read "The Consensus Problem", included the links provided. Solve the exercise that appears at the document "Exercise1: The consensus protocol (colab & python)"
    
  • W8: Read "Advanced Topics on Consensus", included the links provided.
    
  • W9: Solve the mandatory parts of the lab (file "Lab (description, mandatory parts, optional parts)"). Select the desired optional parts you plan to solve during the course.
    

  
  

• Framework File 1.2MB
• The Consensus Problem File 458.3KB
• Exercise1: The consensus protocol (colab & python) File 57.4KB
• Advanced Topics on Consensus File 362.5KB
• Lab (description, mandatory parts, optional parts) File 64.7KB
• Optionals GAZEBO: explanation of DRAFT files provided 355.8KB
• Optionals_GAZEBO_lab1_files.tar 8.7KB
• Multi-robot applications (Weeks W10 to W13)
  

• W10 to W13: The work associated to each week consists of the following tasks Page

  • W10: Finish the work in progress associated to the previous part "The consensus problem": Brief report (about 1500 words) and code of the exercises and lab assignments, mandatory parts. Read the document "Multirobot formation control" associated to the current part "Multi-robot applications", included the links provided.
    
  • W11: Solve the exercise that appears at the document "Practical Exercise. Multirobot formation for target enclosing".
    
  • W12: Read the document "Persistent coverage", included the links provided. Solve the exercise that appears at the document "Practical Exercise. Persistent Coverage".
    
  • W13: Read the document "Multirobot collision avoidance", included the links provided. Solve the exercise that appears at the document "Practical Exercise. Hybrid reciprocal velocity obstacle method (HRVO)".
    

  
  

• Multirobot formation control File 1.1MB
• Practical Exercise. Multirobot formation for target enclosing File 117.8KB
• Persistent coverage File 3.3MB
• Practical Exercise. Persistent Coverage File 112.2KB
• Multirobot collision avoidance File 528.8KB
• Practical Exercise. Hybrid reciprocal velocity obstacle method (HRVO) File 127.9KB
• Advanced concepts of multi-robot systems (Weeks W14 and W15)

• W14 to W15: The work associated to each week consists of the following tasks: Page

  Develop and complete the optional parts of the exercises and lab assignments. Compile all the course results into the final documentation: final report compiling all the exercises and lab assignments (about 5000 words), the code, and a video (up to 10’) with the presentation.