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Design, Control, and Optimization of Swarm-Intelligent, Real-Time, Embedded Systems

English title Design, Control, and Optimization of Swarm-Intelligent, Real-Time, Embedded Systems
Applicant Martinoli Alcherio
Number 116913
Funding scheme SNSF Professorships
Research institution Laboratoire de systèmes non linéaires EPFL - IC - ISC - LANOS
Institution of higher education EPF Lausanne - EPFL
Main discipline Electrical Engineering
Start/End 01.08.2007 - 31.10.2008
Approved amount 362'621.00
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All Disciplines (2)

Discipline
Electrical Engineering
Information Technology

Keywords (13)

SWARM INTELLIGENCE; SWARM ROBOTICS; SENSOR AND ACTUATOR NETWORKS; MULTI-ROBOT SYSTESM; NETWORKED ROBOTIC SYSTEMS; SENSOR NETWORKS; Modeling; Machine-Learning; Coverage; Search; Resource Allocation; Distributed Sensing; Distributed Control

Lay Summary (English)

Lead
Lay summary
Our research is aimed at designing and controlling real-time, distributed systems consisting of autonomous units that can perceive, decide, collaborate, and act in the physical world. Our work addresses system engineering both at the hardware and software levels, model-based and machine-learning-based analysis and synthesis methods with particular emphasis on distributed, scalable control algorithms. Swarm-intelligent systems, and in particular swarm-robotic ones, exploit self-organization as the key coordination mechanism, are statically and dynamically scalable, and are characterized by an often large number of units with limited individual complexity in respect to the task they are supposed to accomplish.
This project focuses on a specific class of problems: distributed sensing. In particular, it aims at: first, generalizing problem-specific analysis and synthesis solutions to engineering methodologies; second, understanding the theoretical limits of a swarm-robotic approach for distributed sensing problems; and third, comparing the swarm-robotic solution with other more standard engineering methods in terms of efficiency and robustness as well as system cost. These issues are addressed with the following three strongly interconnected projects, each of them involving 1 PhD student: (A) Distributed Boundary Coverage of Regular Structures using Miniature Swarm-Robotic Systems; (B) Distributed Localization of Acoustic Targets Using Networked Swarm-Robotic Systems; (C) Distributed Resource Allocation and Attention in Networked Swarm-Robotic Systems. The three projects maximize cross-fertilization by often sharing experimental, computational, and mathematical tools while maintaining a strong individual signature and complementary goals. The efforts in the development of project-independent tools and methods will be further strengthened in this project with the help of a part-time postdoctoral fellow.
Direct link to Lay Summary Last update: 21.02.2013

Responsible applicant and co-applicants

Employees

Associated projects

Number Title Start Funding scheme
137838 Design, Modeling, and Control Methodologies for Self-Assembling Floating Miniature Robotic Systems 01.11.2012 Project funding (Div. I-III)
68647 Design, Control, and Optimization of Swarm-Intelligent, Real-Time, Embedded Systems 01.08.2003 SNSF Professorships
157191 A Modeling and Control Methodological Framework for Self-Assembling Floating Miniature Robotic Systems 01.11.2014 Project funding (Div. I-III)

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