CAREER: Multi-scale Modeling for Mobile, Multi-robot Systems

职业：移动、多机器人系统的多尺度建模

• 批准号: 0133947
• 负责人: Gaurav Sukhatme
• 金额: $ 35万
• 依托单位: University of Southern California
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2002
• 资助国家: 美国
• 起止时间: 2002-03-01 至 2008-02-29
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0133947&HistoricalAwards=false
• 关键词: CAREER; Multi; scale; Modeling; Mobile

The project focuses on robotic tasks that cannot be done by a single robot, with the goal of developing multi-robot systems with increased fault tolerance and task speedup. This domain will be studied formally, in pursuit of a fundamental theory. The resulting formalism is to guide researchers in the design of experiments with large-scale multi-robot systems. Macroscopic models using expected (rather than exact) values of the system states will be explored in the search of a theory of multi-robot teams. Models of large-scale robot teams will be designed, and testable hypotheses about system performance will be formulated. Scalable algorithms for certain canonical tasks in a planar environment will be designed and tested, using a large group of mobile robots and a multi-robot simulator. The education part of the project is closely tied to the PI's research, and includes a new teaching lab, lab courseware development, and hosting high-school minority summer interns at the lab.

该项目专注于单个机器人无法完成的机器人任务，目标是开发具有更高容错性和任务加速的多机器人系统。这个领域将被正式研究，以追求一个基本的理论。由此产生的形式主义是指导研究人员在大规模的多机器人系统的实验设计。宏观模型使用预期的（而不是确切的）值的系统状态将探索在搜索的理论多机器人团队。大型机器人团队的模型将被设计，并制定有关系统性能的可测试的假设。在平面环境中的某些典型任务的可扩展算法将被设计和测试，使用一个大组的移动的机器人和多机器人模拟器。该项目的教育部分与PI的研究密切相关，包括一个新的教学实验室，实验室课件开发，并在实验室接待高中少数民族暑期实习生。