Optimal control of a communicating robot

Mobile robots typically communicate wirelessly, both to receive commands and to provide sensing data. The range of communication is finite and bandwidth varies with the distance from the base station (wireless antenna), so communication quality is strongly affected by the trajectory of the robot. However, trajectory control design rarely takes this into account. In this project, we aim to design a control strategy that optimally takes into account both the navigation and communication needs of the robot. In particular, we consider a robot that must navigate to a goal position while sending a packet of a certain size to the base station. Encouraging simulation results are already available, and the first objective of this project here is to apply the method to a real robot. To this end we will use either a TurtleBot available at industry partner Accenture, or a Pioneer robot available in the ROCON lab. For a second objective, we are interested in performance guarantees of the scheme, so that full packet transmission and goal reaching are guaranteed. So we are looking for one student with strong programming skills (with robotics and real-time systems experience a plus), and a second student with strong mathematical and analytical skills; or a single student that can work on both objectives.

Apply by contacting Lucian Busoniu. This project is a cooperation with the University of Lorraine, Nancy, France and for the analytical part an Erasmus stay is expected.

Start date (duration): 
October, 2017
Project status and type: