OpemCourseWare: Multi-robot systems
Fecha última actualización febrero de 2023
Contenidos (Materials)
Presentation and Introduction (Week W1)
- 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
- Read the general information provided at moodle about the course
Robot swarms (Weeks W2 to W5)
- 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")
- W2: Read "Introduction to Swarm Robotics", and visit the links provided
- Flocking with Boids Archivo 717.1KB
- Voronoids Archivo 1.1MB
The consensus problem (Weeks W6 to W9)
- 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.
- 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
- Framework Archivo 1.2MB
- The Consensus Problem Archivo 458.3KB
Multi-robot applications (Weeks W10 to W13)
- 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)".
- 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.
Advanced concepts of multi-robot systems (Weeks W14 and W15)
- 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.