Struktur der Informatik in BS

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Algorithms for Robot Navigation: From Optimizing Individual Robots to Particle Swarms

Aaron Becker, Erik Demaine, Maximilian Ernestus, Sándor P. Fekete, Golnaz Habibi,

Michael Hemmer, Alexander Kröller, Dominik Krupke, Seoung Kyou Lee, James McLurkin,

Rose Morris-Wright, Christiane Schmidt

June 7, 2017 | Sándor P. Fekete | Algorithms for Robot Navigation | MAC 2017

Preface: Processors and Mobile Objects

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Processors

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Mobile Systems and Robots

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Algorithms

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1. Algorithms for NP-hard problems

2. Algorithms for problems with incomplete information

3. Distributed algorithms

4. Algorithms for programmable matter


Part 1: Exploration with a Single Robot

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Video!


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Video!


Part 2: Exploration with a Robot Swarm

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Video!


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Video!


Dual Routing

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Note: The dual graph is stored implicitly in primal vertices!


Dual Routing

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Part 3: Distributed Cohesive Control

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Cohesive Control

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Cohesive Control

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Surface Tension

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Surface Tension Fails

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Using Geometry & Algorithms

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Side Note: Other Cohesive Control

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„Houston, you have a problem!“



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„Houston, you have a problem!“



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Part 4: Controlling Massive Particle Swarms

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Moving Small Objects

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Video!

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Video!

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Conclusions

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• There has been amazing progress in robotics and distributed systems.

• Distributed mobile systems come in many sizes and numbers.

• Putting these systems to good use is not “a mere matter of engineering”, but requires a combination of systems control with algorithmics.

• Just because the algorithmic problems are difficult, you don’t have to give up on smart algorithmic methods.

• If you’re an engineer: Talk to algorithms people!

• If you’re a computer scientist: Talk to engineers!


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Thank you!

Struktur der Informatik in BS

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