Control of Swarm Robotic Systems for Coverage and Manipulation Tasks Spring Berman, Ph.D. Assistant Professor, Mechanical and Aerospace Engineering Autonomous Collective Systems Laboratory Arizona State University, Tempe, AZ spring.berman@asu.edu http://faculty.engineering.asu.edu/acs/

Example Application for Robotic Swarms

Control Strategies for Swarms Infeasible to plan, monitor actions of each of 1000’s of robots Need approach to designing controllers for robotic swarms: Scalable with robot population size Local sensing, local or no inter-robot communication Provably produces a target collective behavior Easily adaptable to changes in target behavior and disturbances

Methodology Macroscopic model Rigorous abstraction Microscopic model Analysis: Establish theoretical guarantees on performance Control synthesis: Design tunable parameters of macroscopic model Macroscopic model Equations governing concentrations of swarm subpopulations Broadcast parameters Rigorous abstraction Decentralized robot control policies of motion and stochastic task switching that produce desired collective behavior Microscopic model Typical robot simulation