University of Pennsylvania 1 GRASP Cooperative Control and Coordination of Multiple Robots Vijay Kumar GRASP Laboratory University of Pennsylvania

University of Pennsylvania 2 GRASP Cooperative Manipulation Coordinated control of mobile manipulators Research questions n decentralized control with partial state information n design and composition of behaviors. behaviors are local (temporal, spatial, decentralized) – control laws n modeling and analysis of networked, stochastic, hybrid systems n scalable and predictable

University of Pennsylvania 3 GRASP Cooperative Control for Active Vision: 3D Mapping and Reconstruction [C. J. Taylor]

University of Pennsylvania 4 GRASP AGENT GROUP TEAM GROUP P AC CS AGENT Agents in one group are coupled  Communication network  Sensor network

University of Pennsylvania 5 GRASP Experimental Platform for Vision-Based Control

University of Pennsylvania 6 GRASP Framework for Multirobot Coordination A group of n robots is described by a triple (g, r, H) n position and orientation of the group g  SE(p) - motion group n shape of the formation r  R 2(n-1) - shape variables n the graph describing the control structure of the group H is a control graph - R1 R2 R4 R3 R6 R5 R7 R9 R8 R10 R2 R4 R7 R8 R1 R3 R6 R5 R9 R10 R1 R2 R4 R3 R6 R5 R7 R9 R8 R10 control graphs g(t)g(t)

University of Pennsylvania 7 GRASP Formation Control R1R1 R2R2 R3R3 R1 R2 R3 R4 R5 R1R1 R2R2 R3R3

University of Pennsylvania 8 GRASP 1. composition of controllers 2. ad hoc network 3. predictable performance

University of Pennsylvania 9 GRASP Optimal Maneuvering, Changing Formations R

University of Pennsylvania 10 GRASP Cooperative Manipulation

University of Pennsylvania 11 GRASP MARS (DARPA ITO) CHARON Code (High level language) Java Code CHARON to Java Translator Control Code Generator Java Libraries Human Interface Simulator Code Generator Analysis Learning Algorithms Learning Algorithms Drivers

University of Pennsylvania 12 GRASP Cooperation between Ground Based and Aerial Vehicles Mapping, Reconnaissance Manipulation

University of Pennsylvania 13 GRASP Cooperation for Amphibious Robots Heterogeneous modules/robots Salamander n Swimming, eel-like modules n Walking, insect-like modules n Rolling, cart-like modules [J. Ostrowski]

University of Pennsylvania 14 GRASP Modeling, Simulation, and Analysis of Genetic Circuits using Hybrid Models A formal description of genetic circuit topology and the underlying hybrid phenomena Development of tools for the analysis, design and improved understanding of genetic circuits.

University of Pennsylvania 15 GRASP Example: Quorum Sensing System in V. Fischeri mode OFFmode POSmode NEG agent vibrio_fischeri mode POS-NEG