From Parallel Robots to Multi-Agent Formations: Rigidity Theory applied to Dynamic Systems (19 & 26 Sept. 2023)
Lecturer
Prof. Giulia Michieletto
Dept: DTG Vicenza
Tel: +39 333 8059528/ +39 0444 988886
e-mail: giulia.michieletto@unipd.it
Topics
Scope of the course: to show how the rigidity theory can be applied to parallel robotics – with the purpose of studying and characterizing the existing rigid constraints that define the working space of the robots - and to multi-agent formations – with the intent of control ling the agents in order to preserve the (virtual) constraints imposed by the sensing interplay.
1) parallel robots: preliminaries on pose representation, definition and applications for parallel robotics, derivation of motion equations and constraints characterization for the Stewart platform
2) physically connected multi-robot systems: introduction of the concepts of bar-and-joint structure and framework, recap of graph theory, description of physically connected multi-robot systems (possible type of physical connections and robot model) and discussion on their applications
3) virtually connected multi-robot systems: insights on agent sensing modality, particularization of the concept of framework
4) multi-agent formation: introduction to the formation control problem and its applications, main concepts of rigidity theory, focus on distance rigidity and bearing rigidity and their exploitation in the design of formation controllers
Timetable
19/09/2023 – 10.00-16.00 (with lunch beak 12.00-13.00)
26/09/2023 – 10.00-16.00 (with lunch beak 12.00-13.00)
(subject to changes - check the Calendar of the School for confirmation)
Lectures format
On-line or traditional lectures (to be decided)
Admission
Please send an e-mail to the lecturer and Moodle website registration.
Examination
Oral exam: presentation of a state-of-the-art work concerning a specific topic of the course and discussion on the possible applications of the described results with respect to own research topic