CAREER: A Rigidity Theory for Multi-Robot Formations

该提案将多机器人编队的基础研究与课堂内外女性本科生赋权体验的发展联系起来。该研究的理论性质是由硬件和计算机视觉基础的坚实基础所补充的，整合在一个全面的教育计划中。PI将发展对多机器人系统的几何构造的理解，例如二维和三维的蜂群。传感器和通信成本将成为建模和算法考虑的一部分，因为最小化功耗对于设计轻量级和敏捷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)了解地层的结构特性，(2)生成最优控制体系结构，(3)预测地层？S内部运动。从理论和应用的角度发展一个统一的理论将产生丰富的新方向，比如像驱动一个单一的传统机器人一样驱动一个编队。这些研究成果有可能对多机器人系统的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（Mount Holyoke College）的初级教员，这是一所女子文理学院，该校最近的入学人数增长导致平均每年有15名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参与这个充满活力的崭露头角的计算机科学家社区。将开发两门课程，旨在同时通过核心计算机科学原理教育本科生，并使他们接触到具有挑战性的令人兴奋的研究问题。学生们将有更多的机会在课堂外体验，通过校园里高度可见的机器人和计算机视觉项目，为子孙后代树立榜样。通过与学生管理的计算机科学俱乐部密切合作，PI将建立一个支持性的环境，培养传统上代表性不足的群体对技术的兴趣。她还将通过每年夏天指导两名本科生进行引人注目的研究经验，积极地让学生参与研究。

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.