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Talk on ‘Mobile Robots, Autonomous Systems, and Cooperative Control’

The Indian Institute of Technology organised a talk on August 29, 2019. The details of the same are as follows:

Title:             ‘Mobile Robots, Autonomous Systems, and Cooperative Control’

Speaker:       Dr. Aseem Borkar, Dept. of Systems and Control Engineering, IIT Bombay

Day & Date: Thursday, August 29, 2019

Venue:           LC002, Lecture Hall Complex, IIT Bombay

Abstract:

This talk was broadly about the implementation of path planning and guidance strategies for autonomous aerial surveillance.

Strategies developed to address two surveillance problems specifically: Target monitoring and area surveillance were presented. Target monitoring is when a convoy of surveillance vehicles follow and observe a particular target. Area surveillance is when the convoy continuously patrols a given area and tries to make sure the entire area is under observation at all times.

Dr. Aseem showed his work on both of these and gave a brief look into the underlying theory, which at first looks intricate and involved, but becomes really easy to visualize and grasp in light of these applications. The talk also discussed the details of the validation and implementation of the same on actual robotic platforms. Finally, useful tools for simulating, testing and prototyping robotic systems were also discussed.

For the target monitoring problem, cooperative strategies such as cyclic the pursuit for stationary and moving targets, and vector field based guidance laws for tracking both single and multiple targets were discussed upon. For the area surveillance task, a scalable and reconfigurable multi-agent formation on Lissajous curves were discussed which achieves collision-free area coverage and can be implemented with aerial agents in a decentralized manner.

About the speaker:

Aseem Borkar has completed his Ph. D at the Interdisciplinary Program in Systems and Control Engineering, at the Indian Institute of Technology Bombay and will pursue his postdoctoral research at the University of Illinois at Urbana Champaign. He is interested in the broad area of mobile robots and autonomous systems, in particular, cooperative control of multi-agent systems, collision avoidance, trajectory planning, guidance and supervision of unmanned aerial vehicles, etc. He has worked on autonomous fixed-wing miniature aerial vehicles (MAVs), quadrotors, wheeled mobile robots.