Multi-agent Deployment Problem
Institution: Harvard University
Date: Spring 2020
For my ES 159: Introduction to Robotics class, I wanted to look at a SLAM algorithm that would explore a space while also maintaining observational capabilities in that space - what is termed the deployment problem. I found a paper by Kantaros et al., which addressed a known version of the problem.
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With help from Yiannis Kantaros at UPenn, I was able to replicate their results, as well as demonstrating feasibility in unknown environments. In addition, I added patrol behavior by using time-varying density functions to modify robot motion, which has interesting theoretical and practical considerations.
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I hope to continue thinking and studying this problem in the future. You can check out my final report here.
Skills: MATLAB, Controls, Robotics
Left: Movement of 10 robots through unknown, nonconvex space. Right: Evolution of the density function over time - darker being more dense. You can see that the robots eventually establish patterns of movement.