Multi-Robot Systems

4 credits · College of Engineering catalogue

Advisory Prerequisite: None. Enforced Prerequisite: ROB 314 or AEROSP 470 or MECHENG 461 or EECS 460; No OP/F . Minimum grade requirement of “C” for enforced prerequisite. C redit Exclusions: Student may only receive credit for one course , ROB 416 and ROB 516 . (4 credits) Designed for undergraduate students in robotics and control, this course introduces the foundational modeling, planning, and control techniques needed to formulate and solve real-world multi-robot problems using graph-theoretic and optimization tools. Topics include: Taxonomies and Architectures of Multi-Robot Systems; Graph-theoretic Models of Multi-Robot Networks; Agreement and Formation Control; Task Assignment and Motion Planning; Distributed Estimation; Distributed Optimization; Target Tracking and Localization; Elements of Lyapunov Theory and Control Barrier Functions; Resilient Network Control and Estimation; Multi-Agent Reinforcement Learning; Coverage and Exploration.