In this project we study the problem of coordinating a set of mobile networked systems while accomplishing their individual tasks, which may lead to conflicts. Conflicts arise from the use of a common workspace subset used by the mobile systems when executing their own tasks. This problem formulation abstracts the problem of coordinating the vehicles in a cross intersections. Such coordination is usually performed, in a not necessarily optimal way, through traffic lights, rules and signs. In our problem setup, instead, we assume that the mobile systems possess communication capability allowing exchange of information. Ideally, communication links between the mobile systems could be used in order to establish a collaborative procedure coordinating the execution of the individual tasks in order to optimize a global cost while guaranteeing collision avoidance. We consider scenarios where the mutual positions of the mobile systems within the workspace is not known a priori and a cooperative sensor fusion algorithm has to be used in order to build local maps. Moreover, we address realistic scenarios of imperfect information exchange, i.e., information losses or delays and limited communication range. The contribution of the proposed research will be the study of a framework integrating cooperative sensor fusion and decision making algorithms to solve the considered coordination problem.
Professor at Chalmers, Electrical Engineering, Systems and control, Mechatronics
Funding Chalmers participation during 2013–2016
Areas of Advance