{"id":53,"date":"2012-05-04T11:16:25","date_gmt":"2012-05-04T18:16:25","guid":{"rendered":"https:\/\/labs.engineering.asu.edu\/acs\/?page_id=53"},"modified":"2020-07-13T01:41:12","modified_gmt":"2020-07-13T08:41:12","slug":"teaching","status":"publish","type":"page","link":"https:\/\/faculty.engineering.asu.edu\/acs\/teaching","title":{"rendered":"Teaching"},"content":{"rendered":"

MAE 598: Multi-Robot Systems \u00a0<\/span>Fall 2016<\/h2>\n

Syllabus\/Course Schedule with Reading and Team Presentation Assignments\u00a0<\/a><\/span><\/h4>\n

Final Project Proposal Guidelines and Template<\/a><\/span><\/h4>\n

Presentation guidelines: \u00a0<\/strong><\/span>Each 2-student team will be assigned a paper to present to the class. The team will give a 16-minute presentation, during which each student will present for 8 minutes. \u00a0The presentation can be in the form of slides, a discussion using the whiteboard, or a combination of both. The presentation should include: (1) a summary of the paper and its results, (2) possible applications of the research, (3) strengths and weaknesses\/limitations of the paper, and (4) clarification of challenging material. Students may include videos and any other interesting supporting information in support of their presentation. The presenters will answer questions from the class afterward.<\/span><\/p>\n

Readings<\/span><\/h2>\n

[R1]\u00a0<\/strong> \u00a0“Multiple Mobile Robot Systems”, Lynne E. Parker, Chapter 40 in Springer Handbook of Robotics<\/i>, Bruno Siciliano and Oussama Khatib (eds.), 2008.<\/a>\u00a0<\/a><\/span><\/span><\/p>\n

[R2]\u00a0<\/strong>\u00a0\u00a0“Networked Robots”, Vijay Kumar, Daniela Rus and Gaurav S. Sukhatme, Chapter 41 in Springer Handbook of Robotics<\/i>, Bruno Siciliano and Oussama Khatib (eds.), 2008.<\/a><\/span><\/p>\n

[R3] \u00a0<\/strong>“From swarm intelligence to swarm robotics,”<\/a>\u00a0Gerardo Beni. <\/a>In Erol Sahin and\u00a0William M. Spears, editors, Swarm Robotics – SAB 2004 International\u00a0Workshop, volume 3342 of Lecture Notes in Computer Science, pages 1\u20139, July 2005. Springer-Verlag.<\/a><\/span><\/p>\n

[R4] \u00a0<\/strong>“Swarm robotics: From sources of inspiration to domains of\u00a0application,”<\/a>\u00a0Erol Sahin. <\/a>\u00a0In Erol Sahin and William M. Spears, editors, Swarm Robotics –\u00a0SAB 2004 International Workshop, volume 3342 of Lecture Notes in Computer\u00a0Science, pages 10\u201320, 2005. Springer-Verlag.<\/a><\/span><\/p>\n

[R5] \u00a0\u00a0<\/strong>“Architecture, Abstractions, and Algorithms for Controlling Large Teams of Robots: Experimental Testbed and Results,”\u00a0Nathan Michael, Jonathan Fink, Savvas Loizou, and Vijay Kumar. \u00a0In M. Kaneko\u00a0and Y. Nakamura, editors, Robotics Research, STAR 66,\u00a0pages 409-419, 2010. Springer-Verlag.<\/a><\/span><\/p>\n

[R6]<\/strong>\u00a0 \u00a0“Coordinated Control of an Underwater Glider Fleet in an Adaptive Ocean Sampling Field Experiment in Monterey Bay,”\u00a0<\/a>Naomi E. Leonard, Derek A. Paley, Russ E. Davis, David M. Fratantoni, Francois Lekien and Fumin Zhang,\u00a0Journal of Field Robotics<\/i>, 27(6), p. 718-740, 2010. <\/a><\/span><\/p>\n

[R7]<\/strong>\u00a0<\/span> <\/a>“Safe, Remote-Access Swarm Robotics Research on the Robotarium,”\u00a0Pickem, D.; Wang, L.; Glotfelter, P.; Diaz-Mercado, Y.; Mote, M.; Ames, A.; Feron, E. & Egerstedt, M. \u00a0arXiv preprint arXiv:1604.00640<\/em>, 2016<\/a><\/span><\/p>\n

[R8]<\/strong>\u00a0 “A General Method for Numerically Simulating the Stochastic Time Evolution of Coupled Chemical Reactions,” Daniel T. Gillespie, Journal of Computational Physics\u00a0<\/em>22:403-434,\u00a0<\/a>1976<\/span><\/p>\n

[R9]<\/strong>\u00a0 “Stochastic Simulation of Chemical Kinetics,” Daniel T. Gillespie, Annual Review of Physical Chemistry,<\/em>\u00a058: 35-55,\u00a02007<\/a><\/span><\/p>\n

[R10] <\/strong>\u00a0“<\/em>Stochastic modelling of gene regulatory networks,”\u00a0Hana El Samad, Mustafa Khammash,\u00a0<\/span>Linda Petzold,\u00a0<\/span>and Dan Gillespie.\u00a0Int. J. Robust Nonlinear Control<\/em> 2005; 15:691\u2013711<\/a><\/span><\/p>\n

[R11] \u00a0<\/strong>“A review of probabilistic macroscopic models for swarm robotic systems,”\u00a0K. Lerman, A. Martinoli, and A. Galstyan. \u00a0International Workshop on Swarm Robotics<\/em>, 2004, pp.\u00a0143-152.<\/a><\/span><\/p>\n

[R12]<\/strong> \u00a0“The statistical dynamics of programmed robotic self-assembly,”\u00a0S. Burden, N. Napp, and E. Klavins. International Conference on Robotics and Automation <\/em>(ICRA), Orlando, FL, USA, pp 1469–76, 2006.<\/a><\/span><\/p>\n

[R13]<\/strong> \u00a0“Parameter Estimation and Optimal Control of Swarm-Robotic Systems,” Nikolaus Correll. International Conference on Robotics and Automation <\/em>(ICRA), 2008.<\/a><\/p>\n

[R14]<\/strong> \u00a0“Probabilistic Modeling of Swarming Systems,” Nikolaus Correll and Heiko Hamann,\u00a0Springer Handbook of Computational Intelligence,<\/em> pp. 1423-1432, 2015.<\/span>\u00a0<\/a><\/p>\n

[R15]<\/strong> \u00a0“Deciding on a new home: How do honeybees agree?,” N. F. Britton, N. R. Franks, S. C. Pratt, and T. D. Seeley,\u00a0Proc. R. Soc. Lond. <\/i>B (2002) 269:1383\u20131388.<\/span><\/a><\/p>\n

[R16] \u00a0<\/strong>“Steady-states\u00a0of receptor-ligand dynamics: a theoretical framework,”\u00a0Madalena Chaves, Eduardo D Sontag, and Robert J Dinerstein. J. Theoretical Biology<\/em>,\u00a0227(3):413\u201328, 2004.<\/span><\/a><\/p>\n

[R17]<\/strong> \u00a0“Ant groups optimally amplify the effect of transiently informed individuals,” Aviram Gelblum et al.,\u00a0Nature Communications<\/em> 6, 2015.<\/a>\u00a0 \u00a0 Supplementary Material<\/a><\/span><\/span><\/p>\n

[R18]<\/strong> \u00a0“Information Consensus in Multivehicle Cooperative Control,” Wei Ren, Randal W. Beard, and Ella M. Atkins,\u00a0IEEE Control Systems Magazine,<\/em>\u00a0April 2007.<\/a><\/span><\/p>\n

[R19]<\/strong> \u00a0“Consensus and Cooperation in\u00a0Networked Multi-Agent Systems,” Reza Olfati-Saber, J. Alex Fax, and Richard M. Murray,\u00a0Proceedings of the IEEE,<\/em>\u00a0Vol. 95, No. 1, Jan. 2007.<\/a><\/span><\/p>\n

[R20]<\/strong> \u00a0“Information Consensus in Distributed Multiple Vehicle Coordinated Control,”\u00a0Randal W. Beard and Vahram Stepanyan, IEEE Conf. on Decision and Control (CDC)<\/i>, Dec. 2003.<\/a><\/span><\/p>\n

[R21]<\/strong> \u00a0“Novel Type of Phase Transition in a System of Self-Driven Particles,” T. Vicsek et al., Physical Review Letters<\/i>, vol. 75, no. 6, Aug 1995.<\/a><\/span><\/p>\n

[R22] \u00a0“<\/strong>Stable Flocking of Mobile Agents,\u00a0Part I: Fixed Topology,” Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas, IEEE Conference on Decision and Control (CDC)<\/em>, Dec. 2003.<\/a><\/span><\/p>\n

[R23] \u00a0 <\/strong>“Virtual Leaders, Artificial Potentials and Coordinated Control of Groups,”\u00a0<\/strong>Naomi Ehrich Leonard and Edward Fiorelli,\u00a0IEEE Conference on Decision and Control (CDC)<\/em>, 2001.<\/a><\/span><\/p>\n

[R24] \u00a0\u00a0<\/strong>“Motion Coordination with Distributed Information,” Sonia Martinez, Jorge Cortes, and Francesco Bullo,\u00a0IEEE Control Systems Magazine<\/em>, August 2007.<\/a><\/span><\/p>\n

[R25] \u00a0<\/strong>“Controlling a Team of Ground Robots via an Aerial Robot,” Nathan Michael, Jonathan Fink, and Vijay Kumar, IEEE International Conference on Intelligent Robots and Systems (IROS)<\/em>, San Diego, CA, 2007.<\/a><\/span><\/p>\n

[R26] \u00a0<\/strong>“Distributed Coverage Control with Sensory Feedback for Networked Robots,” Mac Schwager, James McLurkin, and Daniela Rus, Robotics: Science and Systems (RSS) II,<\/em>\u00a0pp. 49-56<\/a>, 2006.<\/span><\/p>\n

[R27] \u00a0<\/strong>“Communication-Aware Coverage Control for Robotic Sensor Networks,”\u00a0Yiannis Kantaros and Michael M. Zavlanos,\u00a0IEEE Conference on Decision and Control (CDC)<\/em>, 2014.<\/a><\/span><\/p>\n

[R28] \u00a0<\/strong>“Connectivity Management in Mobile Robot Teams,”\u00a0Ethan Stump, Ali Jadbabaie, Vijay Kumar,\u00a0IEEE International Conference on\u00a0Robotics and Automation (ICRA)<\/em>,<\/em> 2008.<\/a><\/span><\/p>\n

[R29] \u00a0<\/strong>“Constrained Coverage for Mobile Sensor Networks,” Sameera Poduri and Gaurav Sukhatme,\u00a0IEEE International Conference on\u00a0Robotics and Automation (ICRA)<\/em>,<\/em> 2004.<\/a><\/span><\/p>\n

[R30] \u00a0<\/strong>“Mobile Sensor Network Deployment using Potential\u00a0Fields: A Distributed, Scalable Solution to the Area\u00a0Coverage Problem,”\u00a0\u00a0Andrew Howard, Maja J Mataric, and Gaurav S Sukhatme,\u00a0International Symposium on Distributed Autonomous Robotics Systems (DARS)<\/i>,<\/em> 2002.<\/a><\/span><\/p>\n

[R31] \u00a0<\/strong>“Controlling Swarms of Robots Using Interpolated\u00a0Implicit Functions,”\u00a0Luiz Chaimowicz, Nathan Michael and Vijay Kumar,\u00a0IEEE International Conference on\u00a0Robotics and Automation (ICRA)<\/em>,<\/em> 2005.<\/a><\/span><\/p>\n

[R32] \u00a0<\/strong>“Graph-Theoretic Connectivity Control of Mobile Robot Networks,” Michael Zavlanos, Magnus Egerstedt, and George Pappas,\u00a0<\/a>Proceedings of the IEEE<\/em><\/a>,\u00a0<\/a>2011.<\/a><\/span><\/p>\n

[R33] \u00a0<\/strong>“Controlling Wild Mobile Robots\u00a0Using Virtual Gates and Discrete Transitions,”\u00a0Leonardo Bobadilla, Fredy Martinez, and Eric Gobst,\u00a0American Control Conference (ACC)<\/em>, 2012.<\/a><\/span><\/p>\n

[R34] \u00a0<\/strong>“Topological Mapping of Unknown Environments\u00a0using an Unlocalized Robotic Swarm,”\u00a0Alireza Dirafzoon\u00a0<\/span>and Edgar Lobaton,\u00a0<\/em>Intelligent Robots and Systems (IROS)<\/em>,\u00a02013.<\/a><\/span><\/p>\n

[R35] \u00a0<\/strong>“Cooperative Grasping and Transport using Multiple Quadrotors,”\u00a0Daniel Mellinger, Michael Shomin, Nathan Michael, and Vijay Kumar,\u00a0Distributed Autonomous Robotic Systems\u00a0(DARS)<\/em>,\u00a02010.<\/a><\/span><\/p>\n

[R36] \u00a0<\/strong>“Multi-Robot Manipulation with no Communication\u00a0Using Only Local Measurements,” Zijian Wang and Mac Schwager, Conference on Decision and Control (CDC)<\/i><\/span>,\u00a02015.<\/span><\/a><\/span><\/p>\n

[R37] \u00a0<\/strong>“Constraint-Aware Coordinated Construction of Generic Structures,” David T. Stein, Ryan Schoen, and Daniela Rus,\u00a0Int’l. Conf. on Intelligent Robots and Systems (IROS)<\/em>,\u00a02011.<\/a><\/span><\/p>\n

[R38] \u00a0<\/strong>“Bio-inspired construction with mobile robots and compliant pockets,”\u00a0Touraj Soleymani, <\/span>Vito Trianni, <\/span>Michael Bonani, <\/span>Francesco Mondada, and\u00a0<\/span>Marco Dorigo,\u00a0Robotics and Autonomous Systems,<\/em> 74 (2015) 340\u2013350.<\/a><\/span><\/p>\n

[R39] \u00a0<\/strong>“Real-Time Automated Modeling and Control\u00a0of Self-Assembling Systems,”\u00a0Gregory Mermoud, Massimo Mastrangeli, Utkarsh Upadhyay and Alcherio Martinoli,\u00a0Int’l. Conf. on Robotics and Automation (ICRA)<\/em>, 2012.<\/a><\/span><\/p>\n

[R40] \u00a0<\/strong>“Feedback Control of Many Magnetized\u00a0Tetrahymena pyriformis Cells by Exploiting Phase Inhomogeneity,”\u00a0Aaron Becker, Yan Ou, Paul Kim, Min Jun Kim, and Agung Julius,\u00a0Int’l. Conf. on Intelligent Robots and Systems (IROS)<\/em>,\u00a02013.<\/a><\/span><\/p>\n

Supplementary Material<\/span><\/h2>\n

[S1] \u00a0“<\/strong>Deterministic modelling and stochastic simulation\u00a0of biochemical pathways using MATLAB,”\u00a0M. Ullah, H. Schmidt, K.-H. Cho, and O. Wolkenhauer,\u00a0IEE Proc.-Syst. Biol.<\/em>, Vol. 153, No. 2, March 2006\u00a0<\/span><\/a><\/p>\n

[S2] \u00a0“<\/strong>Modeling and simulating chemical reactions,”\u00a0D.J.\u00a0Higham, SIAM Review<\/em>, 50 (2), pp. 347-368, 2008, ISSN 0036-1445.<\/a><\/span><\/p>\n

[S3] \u00a0<\/strong>“Coordination of groups of mobile autonomous agents using nearest neighbor rules,” Ali Jadbabaie, Jie Lin, and A. Stephen Morse,\u00a0IEEE Trans.\u00a0on Automatic Control<\/em>, vol. 48, no, 6, June 2003.<\/a><\/span><\/p>\n

[S4]\u00a0<\/strong> “Exact Robot Navigation using Artificial Potential Functions,” Elon Rimon and Daniel E. Koditschek,\u00a0IEEE Trans. on Robotics and Automation,\u00a0<\/em>8(5): 501-518, Oct. 1992.<\/a><\/span><\/p>\n

[S5] \u00a0<\/strong>Elementary Applied Topology, by Robert Ghrist, ed. 1.0, Createspace, 2014.<\/a><\/span><\/p>\n

[S6] <\/strong>\u00a0“Collective Manipulation and Construction,” Lynne Parker,\u00a0Springer Handbook of Computational Intelligence<\/em>, pp. 1395-1406, 2015.<\/a><\/span><\/p>\n

[S7]<\/strong> <\/a>“Decentralized Sliding Mode Control for Autonomous Collective Transport by Multi-Robot Systems<\/a>,”\u00a0Hamed Farivarnejad, Sean Wilson, and Spring Berman,\u00a0IEEE Conference on Decision and Control (CDC)<\/i>, Las Vegas, NV,\u00a02016.\u00a0<\/a><\/span><\/p>\n

[S8] \u00a0<\/strong>“Self-Assembly at the\u00a0Macroscopic Scale,” Roderich Gross and Marco Dorigo,\u00a0Proceedings of the IEEE,\u00a0<\/em>2008.<\/a><\/span><\/p>\n

[S9]<\/strong>\u00a0 “Biomedical Applications of Untethered Mobile Milli\/Microrobots,”\u00a0Metin Sitti, Hakan Ceylan, Wenqi Hu, Joshua Giltinan, Mehmet Turan, Sehyuk Yim, and Eric Diller,\u00a0Proceedings of the IEEE,\u00a0<\/em>2015.<\/a><\/span><\/p>\n

[S10]<\/strong> “Robotics: Ethics of Artificial Intelligence,” Stuart Russell, Sabine Hauert, Russ Altman, and Manuela Veloso,\u00a0Nature<\/em>, 521:415-418, 2015.<\/a><\/span><\/p>\n

Lecture Notes and Slides<\/span><\/h2>\n

Lecture 1 Slides:<\/strong> Introduction to multi-robot systems<\/a><\/span><\/p>\n

Lecture 2 Slides:<\/strong> Multi-robot representations and control architectures<\/a><\/p>\n

Lecture 3 Notes: <\/a><\/span><\/strong>Stochastic models and controllers for individual robots<\/a><\/span><\/p>\n

Lecture 4 Notes:<\/span><\/strong>\u00a0Master equation and mean-field (ODE) abstractions of population dynamics\u00a0<\/span><\/a><\/p>\n

Lecture 5 Slides: <\/a><\/span><\/strong>Formulations of ODE abstractions of population dynamics<\/a><\/span><\/p>\n

Lecture 6 Notes: <\/a><\/span><\/strong>Analysis of linear ODE abstractions of population dynamics<\/a><\/span>\u00a0 \u00a0 \u00a0\u00a0<\/span><\/p>\n

Lecture 6 Slides: <\/a><\/span><\/strong>Analysis of multi-affine ODE abstractions of population dynamics<\/a><\/span><\/p>\n

Lecture 7 Slides:<\/a><\/span><\/strong> Control and optimization of ODE abstractions<\/a><\/span><\/p>\n

Supplementary Notes:<\/strong> Examples of Chemical Reaction Network (CRN) Modeling and Analysis<\/a><\/span><\/p>\n

Lecture 8 Slides:<\/strong> Collective Transport in Ants<\/a><\/span><\/p>\n

Lecture 9 Slides:<\/strong> Prof. Ted Pavlic, “An Ecological Approach to Unifying Biology and Robotics”<\/a><\/span><\/p>\n

Lecture 10 Slides:<\/strong> PDE Macroscopic Models of Swarm Population Dynamics<\/a><\/span><\/p>\n

Lecture 10-12 Notes:<\/strong> Consensus Problems in Multi-Robot Systems<\/a><\/span><\/p>\n

Lecture 11 Slides:<\/strong> Consensus Problems – Flocking and Formation Control<\/a><\/span><\/p>\n

Lecture 12 Notes:<\/strong> Stability Analysis using Lyapunov Functions<\/a><\/span><\/p>\n

Lecture 13-14 Notes:<\/strong> Applying Lyapunov Theory to Analyzing Consensus Problems<\/a><\/span><\/p>\n

Lecture 16-18 Notes: <\/strong>Multi-Robot\u00a0Motion Coordination using Geometric Representations\u00a0<\/a><\/span><\/p>\n

Lecture 19-21 Notes: <\/a><\/strong>Convex Optimization Problems<\/a><\/span><\/p>\n

Lecture 22 Notes:<\/a><\/strong> Concepts from Topology – Navigation Functions<\/a><\/span><\/p>\n

Lecture 22-23 Slides:<\/strong> Implicit Motion Planning using Potential Fields<\/a><\/span><\/p>\n

Lecture 23 Notes:<\/strong><\/span> Hybrid Systems<\/a><\/span><\/p>\n

Lecture 24 Notes:<\/strong> Concepts from Topology – Topological Data Analysis<\/a><\/span><\/p>\n

Lecture 25-27 Notes:<\/strong> A Decentralized\u00a0Approach to Multi-Robot Collective Transport<\/span><\/a><\/p>\n

Lecture 25-26 Slides:<\/strong> Cooperative Manipulation<\/a><\/span><\/p>\n

Lecture 27-28 Notes:<\/strong> Collective Construction using Voronoi Partitions<\/a><\/span><\/p>\n

Lecture 28 Slides:<\/a><\/strong> Collective Construction<\/a><\/span><\/p>\n","protected":false},"excerpt":{"rendered":"

MAE 598: Multi-Robot Systems \u00a0Fall 2016 Syllabus\/Course Schedule with Reading and Team Presentation Assignments\u00a0 Final Project Proposal Guidelines and Template Presentation guidelines: \u00a0Each 2-student team will be assigned a paper to present to the class. […]<\/p>\n","protected":false},"author":30,"featured_media":0,"parent":0,"menu_order":9,"comment_status":"closed","ping_status":"closed","template":"page-templates\/full-width.php","meta":{"footnotes":""},"class_list":["post-53","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/pages\/53","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/users\/30"}],"replies":[{"embeddable":true,"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/comments?post=53"}],"version-history":[{"count":0,"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/pages\/53\/revisions"}],"wp:attachment":[{"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/media?parent=53"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}