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 relative position to base wireless antennas, 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 and study a trajectory control strategy that optimally takes into account communication needs of the robot. In particular, we consider a robot that must navigate while sending a packet of a certain size to the base station. We will consider both the scenario when the transmission rates are known in advance at each position, and when they are not; the latter situation requires machine learning-based control methods. Encouraging simulation results are already available in both scenarios, 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 Pioneer robot or a Parrot AR.Drone 2 drone available in the ROCON lab. For a second objective, we are interested in performance guarantees of the scheme. 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 alternately, 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 at Nancy is possible.

Start date (duration): 
November, 2018
Project status and type: