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Talks & Seminars
Title: Distributed Algorithms for Multi-Robot Systems
Prof. James McLurkin, Rice University
Date & Time: March 3, 2014 14:00
Venue: F. C. Kohli Auditorium, B Block, 01st Floor, Department of Computer Science and Engineering, Kanwal Rekhi (KReSIT) Building
Abstract:
Multi-robot systems are the next frontier of robotics research. The Multi-Robot Systems lab at Rice University focuses on the opportunities and challenges presented by large populations of robots. These populations enable simultaneous coverage of large areas, highly parallel operations, and other novel solutions, but require distributed approaches for sensing, computation, communication, and actuation. We present an overview of our work with multi-robot systems, including distributed algorithms for robot recovery, angular coordinate systems, and massive manipulation. Producing solutions that scale to large populations is critical, so we model our robotic systems from a computational point-of-view: as geometric graphs embedded in the plane, with communications bandwidth constraints and self-mobile vertices. Finally, we introduce the "r-one" robot, an advanced low-cost design suitable for research, education, and outreach. We provides tales of joy and disaster from using 90 of these robots for our research, a freshman engineering systems course and for public outreach.
Speaker Profile:
James McLurkin is an Assistant Professor at Rice University in the Department of Computer Science, and director of the Multi-Robot Systems Lab. Current projects include using distributed computational geometry for multi-robot configuration estimation and control, and defining complexity metrics that quantify the relationships between algorithm execution time, inter-robot communication bandwidth, and robot speed. Previous positions include lead research scientist at iRobot corporation, where McLurkin was the manager of the DARPA-funded Swarm project. Results included the design and construction of 112 robots and distributed configuration control algorithms, including robust software to search indoor environments. He holds a S.B. in Electrical Engineering with a Minor in Mechanical Engineering from M.I.T., a M.S. in Electrical Engineering from University of California, Berkeley, and a S.M. and Ph.D. in Computer Science from M.I.T.
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