Multi-Robot Systems: Control, Communication, and Security

COMPSCI 2860 Subject & Catalog Number

Description

The ability to connect devices over long distances, via the internet, changed our world.  The second phase of this revolution, that we are still living in today, came about when these devices became wireless.  Now we are at the cusp of a new phase of this evolution where devices are connected, wireless, and controlled – i.e. the robot revolution.

Multi-robot systems are becoming more pervasive; from future autonomous vehicle fleets, to drones, to manufacturing robots.  As a result, the question of how to control, coordinate, and secure these systems has been a growing topic in the robotics literature in recent years.  In this seminar-style course we will do a deep dive into this topic by reviewing classic and recent results in multi-agent planning and control literature.  We will cover a wide gamut of applications from control of groups of flying drones, to decision making in autonomous car networks, to space exploring CubeSats.

This class will treat both the theory and the practical applications behind multi-robot systems. Students with mathematical inclinations and exposure to graph theory, probability theory, linear algebra, and algorithms will derive the most benefit from this course.

Course Notes

This course is a graduate-level seminar course. Motivated advanced undergraduate students are also welcomed. This course was previously numbered CS 286.

Recommended Prep

It will be assumed that students have a strong command of calculus and basic probability theory. An understanding of mathematical optimization methods is preferable. A background in algorithms, dynamics/controls, and intro to robotics would be beneficial.