[cosc-grad-students-list] "Multi-robot Coverage Control and Collective Perception for Environmental Monitoring & Operations" - Dr. Shaocheng Luo - CI 108 & zoom June 3 2pm

[King, Scott]

Please join us for a talk by Dr. Shaocheng Luo, who is a faculty candidate for the Department of Computing Sciences.

Friday 6-3-2022 2-3PM CI 108

Abstract:

Recent advances in the multi-robot systems have made it possible for autonomous environmental monitoring and operations that have long been executed by human operators and are suffering from a trained labor shortage. However, many technical issues need to be addressed beforehand to bridge the gap between multi-robot systems and real-world applications, such as the scalability of the robot team, limited sensing and communication ranges, obstacle detection, collision avoidance, etc.

In this talk, I will first present my research findings on multi-robot coverage control and elaborate on how a team of robots can be coordinated to execute a coverage task collaboratively. Three fundamental problems in coverage, namely robot deployment based on the distribution of tasks, collective coverage control, and rendezvous control for gathering, will be introduced. These fundamental problems may need to be incorporated for complicated tasks, like motion primitives. Importantly, my solutions to these problems feature strong distributedness and are most applicable to practical applications. Second, I will present my findings on collective perception. Enabled by information sharing between connected robots, the robot can detect earlier a possible obstruction and hence augments the reaction time. Meanwhile, redundant information in sharing can improve the collective localization accuracy.

Multi-robot systems have exhibited strong capability in water quality monitoring and harmful spill removal in diverse aquatic environments. Specifically, I will present our methods regarding the deployment of algae cleaning robots according to the distribution of algae patches and centralized and distributed coverage control strategies of the robot team for algae cleaning. Furthermore, I will exemplify how fused perception improves state-of-the-art 3D object localization accuracy in cluttered environments such as urban intersections.



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