Automatic Synthesis and Optimization of Controllers for Multi-Robot Coordination

多机器人协调控制器的自动合成与优化

• 批准号: 0413321
• 负责人: Kristina Lerman
• 金额: --
• 依托单位: University of Southern California
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-11-15 至 2008-10-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0413321&HistoricalAwards=false
• 关键词: Automatic; Synthesis; Optimization; Controllers; Multi

The goal of the project is to develop a formal foundation for the synthesis and analysis of implicit multi-robot coordination mechanisms. Such a formal understanding will allow the multi-robot community to move away from ad-hoc solutions and toward the principled design and analysis of coordinated multi-robot systems. This will be achieved by introducing a formal language to describe the entities interacting in a coordinated multi-robot system, and apply this framework to the principled synthesis of robot controllers using logic-based induction. At the same time, this project will develop a methodology for modeling the coupled robot-environment system and derive the equations describing dynamics of the system. Finally, these procedures will be combined, so that results of analysis can be used to drive performance-enhancing modifications in the robot controller. To validate the formal concepts of the proposed research, these methods will be applied to the design and analysis of multi-robot coordination methods for a real-world sensor/actuator network deployment and maintenance task. The proposed research is novel in that it combines formal techniques from Computer Science, Mathematics, and Physics. As such, the work will serve as a vehicle for raising the profile of mathematical analysis in the robotics community. Undergraduate and graduate robotics courses will benefit from the inclusion of the developed formal analysis techniques. In addition, twice a year demonstrations will be given at local high schools to teach the students the concepts of collective behavior and give them the skills to better understand and approach complex problems.

该项目的目标是开发一个正式的基础，隐式多机器人协调机制的综合和分析。这种正式的理解将使多机器人社区从临时解决方案转向协调多机器人系统的原则性设计和分析。这将是通过引入一个正式的语言来描述在协调的多机器人系统中的实体相互作用，并应用此框架的原则性合成的机器人控制器使用基于逻辑的感应。同时，本计画将发展一套机器人-环境耦合系统的建模方法，并推导出描述系统动态的方程式。最后，这些程序将结合起来，使分析结果可以用来驱动机器人控制器的性能增强的修改。为了验证所提出的研究的正式概念，这些方法将被应用到多机器人协调方法的设计和分析，为现实世界的传感器/执行器网络部署和维护任务。所提出的研究是新颖的，因为它结合了计算机科学，数学和物理学的形式化技术。因此，这项工作将作为一种工具，提高数学分析在机器人社区的形象。本科生和研究生的机器人课程将受益于列入发达国家的正式分析技术。此外，每年将在当地高中举行两次示范，向学生传授集体行为的概念，并使他们掌握更好地理解和处理复杂问题的技能。