Subject description - BE3M33MRS
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Instructions
BE3M33MRS | Multi-robot aerial systems | ||
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Roles: | PV | Extent of teaching: | 2P+2L |
Department: | 13133 | Language of teaching: | EN |
Guarantors: | Saska M. | Completion: | Z,ZK |
Lecturers: | Báča T., Pěnička R., Saska M. | Credits: | 6 |
Tutors: | Báča T., Jiroušek M., Werner M. | Semester: | Z |
Web page:
https://cw.fel.cvut.cz/wiki/courses/mrs/startAnotation:
The course offers the introduction to multirotor autonomous aerial systems (UAV). Standard senzors and principles of estimate and control of UAV will be introduced. The problems of motion planning, path planning, localization, mapping and exploration will be discussed for sigle moving UAV as well as multiple UAVs moving in a formation.Course outlines:
1. | Autonomous aerial system, architectures and taxonomies (sensors, actuators, applications; fixed wing, multirotor, VTOL - convertibles, ...) | |
2. | Multirotor helicopter dynamics model, control, motion planning | |
3. | Multirotor helicopter state estimation and localization | |
4. | Single aerial robot mapping and planning | |
5. | Multi-robot architectures and taxonomies (centralized, decentralized and distributed...). | |
6. | Multi-robot planning, mapping and exploration | |
7. | Formation control (leader-follower, virtual structures, time-varying topology, connectivity maintenance, pursuit - evader, steady-state and bearing-based formations) | |
8. | Behavior-based systems (swarm robotics, bio-inspired flocking algorithms) | |
9. | Cooperative localization of team members (nearby robots) | |
10. | Communication architectures and communication issues in reactive multi-robot systems | |
11. | Failure detection, recovery, reconfiguration in aerial systems | |
12. | Transportation and manipulation by aerial robots | |
13. | Task assignment, consensus, collective decision-making | |
14. | Multi-robot learning - Learning to coordinate |
Exercises outline:
Students work on practical tasks from teachers.Literature:
Siciliano, B. and Khatib, O. (2016) Springer handbook of robotics. Springer. Topics related directly to multirotor aerial platforms may be studied from Franck Cazaurang Kelly Cohen Manish Kumar (2020) Multi-rotor Platform Based UAV Systems. Elsevier. An overview of swarming approaches can be found in Heiko Hamann (2018) Swarm Robotics: A Formal Approach. Springer. Classical graph-based approaches designed for multi-robot systems can be found in Mesbahi, M. and Egerstedt, M. (2010) Graph theoretic methods in multiagent networks. Princeton University Press.Requirements:
Keywords:
Multirobotic systems, unmanned aerial vehicles (UAV) Subject is included into these academic programs:Program | Branch | Role | Recommended semester |
MEKYR_2021 | Common courses | PV | 3 |
Page updated 11.10.2024 05:50:59, semester: Z/2025-6, L/2023-4, Z,L/2024-5, Send comments about the content to the Administrators of the Academic Programs | Proposal and Realization: I. Halaška (K336), J. Novák (K336) |