Zoom Link: https://cmu.zoom.us/j/95571441174

Title: Online Connectivity-aware Dynamic Distribution for Heterogeneous Multi-Robot Systems

Abstract: In many multi-robot applications the robot team needs to execute multiple tasks simultaneously with different task-related controllers. To ensure effective coordination and at the same time avoid collisions, the robots have to stay connected. In this work, we consider the problem where a heterogeneous group of networked robots must be assigned so that the robot capabilities fulfill requirements of tasks that are not known a priori. Robots have heterogeneous capabilities and tasks have differential importance. Task utility is defined as the degree of requirement fulfillment by the assigned robots, weighted by the task importance. Overall system utility is defined as the sum of the task utilities. The overall optimization objective is to maximize overall system utility while minimizing the traveling costs of the robots.

Committee:

Katia Sycara (advisor)

Maxim Likhachev

Wenhao Luo