CAREER: A Rigidity Theory for Multi-Robot Formations

这项提议将多机器人编队的基础研究与课堂内外女本科生赋权体验的发展联系起来。这项研究的理论性质得到了硬件和计算机视觉基础的坚实基础的补充，这些基础贯穿于整个综合教育计划。PI将发展对多机器人系统的几何构成的理解，例如2维和3维的群体。传感器和通信成本将是建模和算法考虑的组成部分，因为最大限度地减少功耗对于设计轻量级和灵活的机器人平台越来越重要。PI将在三个基本方向上建立数学基础和开发算法：(1)了解队形的结构特性，(2)产生最优控制结构，(3)预测队形-S内部运动。从理论和应用两个角度发展统一的理论将产生丰富的新方向，例如像驱动单个传统机器人一样驱动一个编队。研究成果可能会对多机器人系统控制和协调的前沿技术产生重大影响。PI是芒特霍利奥克学院的初级教员，这是一所面向女性的文科学院，最近招生人数的增长导致该学院平均每年有15个计算机科学专业的学生(超过了2002年的峰值)。她将通过她提出的教育计划，让这个由初露头角的计算机科学家组成的充满活力的社区参与进来。将开发两门课程，旨在通过核心计算机科学原理同时教育本科生，并让他们接触到挑战该领域的令人兴奋的研究问题。通过在校园内高度可见的机器人和计算机视觉项目，学生们将有更多的机会在课堂外体验，为子孙后代树立榜样。通过与学生运营的CS Club密切合作，PI将建立一个支持性环境，培养传统上代表不足的群体对技术日益增长的兴趣。她还将积极地让学生参与研究，每年夏天通过一次令人信服的研究经验指导两名本科生。

This proposal connects foundational research for multi-robot formations with the development of empowering experiences for women undergraduates in the classroom and beyond. The theoretical nature of the research is complemented by a firm grounding in hardware and computer vision fundamentals, integrated throughout a comprehensive education plan. The PI will develop an understanding of geometric formations of multi-robot systems, such as swarms in both 2- and 3-dimensions. Sensor and communication costs will be integral to modeling and algorithmic considerations, as minimizing power consumption is increasingly important for the design of lightweight and agile robot platforms. The PI will establish mathematical foundations and develop algorithms in three fundamental directions: (1) understanding a formation's structural properties, (2) producing optimal control architectures, and (3) predicting a formation?s internal motions. Developing a unifying theory from both theoretical and applied perspectives will produce a wealth of new directions, such as actuating a formation as if it were a single traditional robot.The research contributions have the potential to significantly impact cutting-edge technology for the control and coordination of multi-robot systems. The PI is junior faculty at Mount Holyoke College, a liberal arts college for women, where a recent growth in enrollments has led to an average of 15 computer science majors a year (surpassing the peak of 2002). She will engage this vibrant community of budding computer scientists through her proposed education plan. Two courses will be developed, designed to simultaneously educate undergraduates through core computer science principles and expose them to exciting research problems challenging the field. Students will have additional opportunities for experiences outside the classroom through highly visible robotics and computer vision projects on campus, producing role models for generations to come. By working closely with the student-run CS Club, the PI will establish a supportive environment that fosters growing interest in technology from traditionally under-represented groups. She will also actively involve students in research by supervising two undergraduates each summer through a compelling research experience.