Engineering HDR Seminar Series 12_2013 (candidature transfer from Masters to PhD): Multi-robotics Obstacles Mapping: Coordination and Dynamic Task Allocation

Mr Rishwaraj Gengarajoo, Mechatronics Engineering postgraduate student

Date: 2013-03-08
Time: 15:00 to 16:00
Venue: Engineering Meeting Room 1, 5-4-22


Two aspects of multi-robot system that are looked into in this study are the formation control and dynamic task allocation. In general, posture estimation comes hand in hand with formation control and trajectory coordination in a group of mobile robots during the fly. It is common to designate one robot as leader and the remaining robots as followers in a group, where the followers are required to track the leader either through explicitly or implicitly using various sensors to remain in the tightly coupled formation. One of the critical emphases on formation control of such systems is the posture estimation of the neighboring robots in order to ensure a tightly coupled formation. This could be achieved through various methods, such as visual perception, sonar sensors, laser range finders and multi-sensor fusion and also through inter-robot communications. Inter-robot communications also play a pivoted role in the dynamic task allocation through various techniques such as emergent task allocation, global optimization approach and extended Kalman filters. This study proposes the design of a leader-follower based formation control system that incorporates a hybrid optical emitter – vision based posture estimation system for the purpose of maintaining formation of a group of robots. Posture estimation system study is done using two optical emitters (laser pointer) and a webcam to design and develop a hybrid posture estimation system. With this designed system, a formation control module is developed to maintain the formation of mobile robots during fly.

About the Speaker

Rishwaraj Gengarajoo received his BEng (Hons) in Manufacturing Processes from Universiti Teknikal Malaysia Melaka (UTeM) in 2010. He started his postgraduate studies in Monash University  under the supervision of Prof Ponnambalam. His research focuses on the design and development of formation control system and dynamic task allocation for multi mobile robot system.