Communication Fault-tolerant Networked Control System for Coordination of Heterogeneous Robots

Abstract

In this Ph.D. project, we propose the implementation and development of a communication fault-tolerant networked control system for coordinating heterogeneous robots. More specifically, mobile wheeled robots and quadcopters. In order to fulfill this, two approaches for networked systems will be combined: the first technique addresses the package drop problem and is going to be handled by a designed filter for linear systems subject to Makovian jumps. The second approach is a switched state feedback controller to deal with latency issues. The validation will take place in the Laboratory of Intelligent Systems (LASI) of the University of São Paulo in São Carlos. Four Vicon cameras estimate position and attitude of the systems. This project is strongly connected to other FAPESP projects. Additionally, it is worth mentioning that LASI already owns the Vicon cameras as well as the necessary robots. Furthermore, LASI members have been working actively on robust filtering and dynamical control of systems subject to Markovian jumps with special interest on robotics applications. (AU)