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Autonomous Multi-Robot Systems Spring 2012
Administrative
- web:http://www.intelligentappliances.org/multirobot/
- piazza http://piazza.com/class#spring2012/cs76318803mrs4632
- Professor: Tucker Balch CCB 317
- TA: Brian Hrolenok
- BioSim help: Hai Shang
- Tuesday/Thursday 3:00-4:30 Klaus 2443
- T-square site: TBD
- Link to 2008 course, 2010 course
Topics
Hierarchical robot control; Behavior-based robot control; Sensors and perception; Navigation and path planning; Localization; Reinforcement learning; Communication; Diversity.
Students should have strong programming skills.
Main Components of Course
First third, Basics:
- Basics of behavior-based control for robots
- Basics of multi-robot systems
- Project: Simple multi-robot system, ASCII soccer (C programming language)
Second third, Research:
- Survey of important literature
- Each student chooses a group of papers on a multi-agent or multi-robot topic
- Each student leads a 30 minute discussion of their topic
Last third, Build Multi-Robot Systems:
- Several projects using BioSim, Java based multi agent simulation system (Java)
- Key component is experimental evaluation of the performance of these systems.
Grading Components & Expectations
- Basic projects: 30%
- Presentation: 30% (re-do allowed)
- Multi-robot projects: 30%
- Quizzes: 10% (easy questions about the content of presentations)
If you take the course P/F you only need to do the presentation and quiz component.
Resources
Some papers and pointers:
- motor schema formulations
- motor schemas for formation control
- Voting paper by Rosenblatt
- Voting paper by USC folks
- Q-learning on wikipedia
- Q-learning paper by Kaelbling, Littman, Moore
Software we'll be using:
Prerequisite
Strong programming skills. We will be using Unix, C, Java.
Midterm Preparation
- Know
- Arkin paper on motor schemas
- motor schema formulations
- article about diversity (sections 1, 2, & 3)
- paper on Reinforcement Learning (sections 1.1, 1.2, 3.1, 4.2)
Schedule
| January | |||
| Tuesday | January 10 | Class overview
| |
| Thursday | January 12 | Sense Think Act cycle | First project discussed (ASCII Soccer) |
| Tuesday | January 17 | Class overview (repeat for France) More on ascii soccer | |
| Thursday | January 19 | ascii soccer workshop | |
| Tuesday | January 24 | Navigation Part 1: Planning.
|
Projects
- 2012_Project_1, Part 1 is due Monday January 23 at 11:55PM
- 2012_Project_1, Part 2 is due Friday January 27 at 11:55PM
- 2012_Project_2, is due Saturday, February 11, at 11:55PM
Content We May Use
- multirobot lecture 0
- multirobot lecture 1
- multirobot lecture 2
- Diversity Part 1
- Diversity Part 2
- article about diversity (sections 1, 2, 3, 4, & 7)
- Behavior Based Control Part 1
- motor schema formulations
- Behavior Based Control Part 2
- Introduction to MASON,
- Reinforcement Learning: media:RL-slides.pdf
- RRTs
- Intro to multi robot / multi objective visit tasks. PRIM Algorithm details
- Ants & ERRTs
- Paper on communication (with sections to read)
- Reinforcement Learning paper
- MASON assignment
- Shang Hai MASON slides
- midterm (take home)
Previous Assignments We May Use
- 2010Fall Project 1 Part 1
- 2010Fall Project 1 Part 2
- 2010Fall Project 2
- 2010Fall Project 3
- 2010Fall Project 4
- 2010Fall Project 5
- 2010Fall Project 6
Evaluation
Grading will be based on projects and tests as follows as follows:
- Midterm exam: 10%
- Final exam: 10%
- Programming assignments: 70%
- Paper presentation: 10%
