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SUMMARY:Coverage Control and map building for Gossiping Robotic Networks
DTSTART:20170512T101500
DTEND:20170512T111500
DTSTAMP:20260410T010032Z
UID:3579b602aee02ee9a374bf10dbf62b16546bae062d8ce67479519140
CATEGORIES:Conferences - Seminars
DESCRIPTION:Ruggero Carli\, Università degli Studi di Padova\nFuture ap
 plications in environmental monitoring\, delivery of services and transpor
 tation of goods motivate the study of deployment and partitioning tasks fo
 r groups of autonomous mobile agents. These tasks are achieved by recent c
 overage algorithms\, based upon the classic methods by Lloyd. These algori
 thms\, however\, rely upon critical requirements on the communication netw
 ork: information is exchanged synchronously among all agents and long-rang
 e communication is sometimes required. In the first part of this talk\, we
  discuss novel coverage algorithms that require only gossip communication\
 , i.e.\, asynchronous\, pairwise\, and possibly unreliable communication. 
 Which robot pair communicates at any given time may be selected determinis
 tically or randomly. A key innovative idea is describing coverage algorith
 ms for robot deployment and environment partitioning as dynamical systems 
 on a space of partitions. In other words\, we study the evolution of the r
 egions assigned to each agent rather than the evolution of the agents’ p
 ositions. The proposed gossip algorithms are shown to converge to centroid
 al Voronoi partitions under mild technical conditions. We also discuss how
  to extend this novel approach to other communication protocols\, like asy
 nchronous gossip and asynchronous broadcast.\n\nThe final part of the talk
  is devoted to the case where the multicenter function dictating the cover
 age is unknown and possibly time-varying\; in this scenario\, we combine t
 he coverage algorithms to estimation procedures which pair Gaussian proces
 ses regression with Kalman filtering techniques.\n\nBio: Ruggero Carli rec
 eived the Laurea Degree in Computer Engineering and the Ph.D. degree in In
 formation Engineering from the University of Padova\, Padova\, Italy\, in 
 2004 and 2007\, respectively. From 2008 through 2010\, he was a Post-docto
 ral Fellow at the Department of Mechanical Engineering\, University of Cal
 ifornia at Santa Barbara. He is currently an Associate Professor in the De
 partment of Information Engineering\, University of Padova. His interests 
 include networked control systems\, multi-agent systems with special focus
  on distributed optimization and estimation\, wireless sensor networks\, s
 mart grids and cooperative robotics.
LOCATION:ME C2 405 https://plan.epfl.ch/theme/generalite_thm_plan_public?d
 im_floor=2&lang=en&dim_lang=en&baselayer_ref=grp_backgrounds&tree_groups=c
 entres_nevralgiques%2Cacces%2Cmobilite_reduite%2Censeignement%2Ccommerc
STATUS:CONFIRMED
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