Die Dozenten der Informatik-Institute der Technischen Universität
Braunschweig laden im Rahmen des Informatik-Kolloquiums zu folgendem
Vortrag ein:
James McLurkin:
Distributed Algorithms for Robot Recovery, Angular Coordinate Systems,
and Low-Cost Robots: An Overview of the Rice Multi-Robot Systems Lab
Beginn: 06.08.2012, 17:00 Uhr
Ort: TU Braunschweig, Informatikzentrum, Mühlenpfordtstraße 23,
1. OG, Hörsaal M 161
Webseite: http://www.ibr.cs.tu-bs.de/cal/kolloq/2012-08-06-mclurkin.html
Kontakt: Prof. Dr. Sándor Fekete
In this talk we present results from three different projects: 1. A
distributed recovery algorithm to extract a multi-robot system from
complex environments. The goal is to maintain network connectivity
while allowing efficient recovery. Our approach uses a maximal-leaf
spanning tree as a communication and navigation backbone, and routes
robots along this tree to the goal. Simulation and experimental results
demonstrate the efficacy of this approach. 2. Angular coordinate systems
can provide robots with useful network geometry from very low-cost
hardware. We introduce "scale-free coordinates" as a coordinate system of
intermediate power and design complexity. We show that it can estimate
low-quality network geometry, but can still be used to build a useful
motion controller with interesting limitations. 3. We introduce the
"r-one" robot, a low-cost design suitable for research, education, and
outreach. We provide tales of joy and disaster from using 90 of these
platforms for our research, a freshman engineering systems course, and
graduate robotics lab.James McLurkin is an Assistant Professor at Rice
University in the Department of Computer Science. Current interests
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.
