| Course Name | Multi Robot Systems |
| Course Code | 24RAI433 |
| Program | B.Tech. Artificial Intelligence (AI) and Data Science (Medical Engineering) |
| Semester | VII |
| Credits | 3 |
| Campus | Coimbatore |
Multi Robot Systems & Algorithms
Introduction to multi robot systems, Architectures of Multi Robot Systems (MRS), Swarm Intelligent Optimization Algorithms and its applications in mobile robot path planning, Leader-Follower Algorithm, and Time varying algorithm for Swarm Robots, A minimalist flocking algorithm. Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System. A navigation Algorithm for swarm navigation.
Multi-Robot Systems – Control and Stability
Introduction, Model predictive control (MPC), Dynamic Matrix Control (DMC), Adaptive Steering and Trajectory Control of Wheeled Mobile Robots for Autonomous Navigation. Aerial robot formation control via pigeon –inspired Optimization. Distributed control of robot Swarms: A Lyapunov – like Barrier Functions Approach. Adaptive Swarm Coordination and Formation Control.
Applications & case studies
Foraging and Coverage, Flocking and Formations, Box Pushing and Cooperative Manipulation, Multi-target Observation, Traffic Control and Multi-robot Path Planning, Soccer, case study: Cockroach Inspired shelter seeking for Holonomic swarms for flying robots.
Course Objectives:
Course Outcomes:
After completing this course, students should be able to
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Ying Tan, Handbook of Research on Design, Control, and Modelling of Swarm Robotics Advances in Computational Intelligence and Robotics, IGI Global, 1st Edition, 2015
Mariam Al-Sagban, Rached Dhaouadi, Adaptive Steering and Trajectory Control of Wheeled Mobile Robots for Autonomous Navigation, Intech open, 1st Edition, 2016
Kuppan Chetty RM, Singaperumal M, Nagarajan T: Cooperative Formation Planning and Control of Multiple Mobile Robots, Intech open, 1st Edition, 2011
Tao Zhang, Xiaqin Li, Yi Zhu, Song Chen, Yu Cheng, Jingyan Song: Formation and Obstacle Avoidance in the Unknown Environment of Multi-Robot System, Intech open, 1st Edition, 2011
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