Tuesday, July 1st
Talk 4: Luis Almeida, University of Porto, Portugal
Mobile autonomous agents are becoming common in a wide range of applications ranging from search and rescue to demining, surveillance and many others. These are, in fact, a special case of Cyber-Physical Systems in which the intertwining between the cyber and physical worlds is flexible. These so-called mobile cyber-physical systems (M-CPS) allow relocating sensors and actuators dynamically to improve global performance, be it improved sensing, improved control or more efficient actuation or use of resources. However, achieving the necessary cooperation is not trivial given that agents are frequently heterogeneous, they set up and break links during their mission leading to a highly dynamic network topology and the communication channel is prone to interference from many sources. In this talk we will address some of the main issues that need to be solved to build efficient M-CPS such as synchronization, information sharing, membership, location-awareness and consensus. We will illustrate these issues with a few case studies, including a robotic soccer team from RoboCup Middle-Size League, which also exhibits most of the typical requirements and constraints of M-CPS. The focus will be on the networking and middleware infrastructures and we will advocate the use of dynamically reconfigurable and adaptive techniques to cope efficiently with the uncertainties of the topology, membership and interference, reducing their negative impact on the coordination applications performance.
Luis Almeida is currently an associate professor at the Electrical and Computer Engineering Department of the University of Porto and a member of the Institute of Telecommunications in Porto where he coordinates the Distributed and Real-Time Embedded Systems Lab. He is also a member of the IEEE Computer Society, IFIP Tecnical Committee on Embedded Systems, EMSIG EDAA Special Interest Group on Embedded Systems Design (vice-chair), RoboCup Federation (trustee) and the Portuguese RoboCup National Committee (vice-president). His current interests are real-time communication protocols for Cyber-Physical Systems with an emphasis on mechanisms to support predictable operational flexibility as needed for dynamic QoS management, graceful degradation and open distributed real-time systems in general. He co-authored over 200 refereed publications, 4 patents and 8 book chapters. He regularly participates in the organization and program committees of scientific events in the Real-Time Systems, Industrial
Systems and Robotics communities, including RTSS, ECRTS, DATE, SIES, WFCS, ETFA and RoboCup.
Talk 5: Olivier Simonin, INSA Lyon, France
Cooperation between robots, or many robots, remains a challenge from a robotic and computer science point of view. When the number of robots increases the complexity of the control grows, as the risk/chance to have emergent global behaviors. Dealing with multi-robot systems raises several challenges when considering real deployment and use. In this presentation we will focus on the challenge of controlling large scale robotics systems, dealing with the following questions (i) how to identify, program and control complex behaviors in swarm of robots, (ii) how human operators can intereact and control such autonomous systems, and (iii) what are the needs today in software development to deploy and monitor multi-robot systems or network of robots. These questions will be illustrated on several robotics platforms used in different recent projects such as the French Robotics Challenge « Carotte ».
Olivier Simonin is Professor at INSA de Lyon and member of the CITI-Inria Laboratory, France. He received his B.Sc., M.Sc. and PhD in Computer Science in 1995, 1997 and 2001 respectively, from University of Montpellier II and LIRMM Laboratory, France. From 2002 to 2006 he was an Associate Professor of Computer Science at UTBM « Université de Technologie de Belfort-Montbeliard » (France), in the SeT laboratory (Systems and Transport). In 2006, he joined the LORIA Laboratory in Nancy as a member of the INRIA project-team MaIA (Autonomous and Intelligent Machines) and, in 2007, became Associate Professor at Université de Lorraine. In 2013 he became Full Professor at INSA de Lyon. His work concerns the study of decentralized algorithms for problem solving and decision in distributed mobile systems, such as multi-robot systems. He is interested in modeling and studying self-* properties (eg. organization, adaptation) in multi-agent and swarm robotics systems. His main application domains are autonomous robots and vehicles, smart rooms and smart cities. Since 2002, he has published 10 articles in international journals and books and about 30 papers in international conference as AAMAS, ECAI, IROS, ICRA, SAB, etc.. He was the initiator of two european PHC projects with Czech Rep. (2014-15) and Slovenia (2006-09) and an active member of several international and national projects (e.g. « InTraDe » european project, STIC-Asie « Scout », ANR « Pherotaxis », REI-DGA « Susie », « Smaart »). In 2012 he has won the French ANR Robotics challenge « Carotte » as a member of the « Cartomatic » team and coordinator of the Maia partner.
Talk 6: Karin Hummel, ETH Zurich, Switzerland
Micro aerial vehicle (MAV) networks are challenged by the movement of the MAVs, as well as signal propagation obstructions of the MAVs’ own frame and antenna properties. This poses novel challenges to wireless communication protocols as soon as they become airborne. Yet, MAVs are also flying robots with the ability to control their movement and they are equipped with various sensors, making them in particular aware of their geographical position. I will present how MAVs can improve communication performance by making use of mutual location and mobility information. In our empirically-driven work in the SWARMIX project (http://www.swarmix.org/), we found that it is beneficial to employ the concept of delayed gratification, where the MAVs do not transmit immediately when a wireless link becomes available, but wait and schedule transmissions when a position with better wireless link conditions is reached. I will detail our experimental findings and draw conclusions for advanced MAV communications.
Karin Anna Hummel (email@example.com) is a senior researcher and lecturer at ETH Zurich, Communication Systems Group. She received her Ph.D. degree in computer science from the Vienna University of Technology with honors in 2005. Her main research interests include ad-hoc and opportunistic networking, wireless and mobile networking, aerial communications, and human mobility characterization. She employs mobility-awareness in different mobile computing fields as a means to improve the performance of networked systems. Dr. Hummel is an author of more than 70 peer-reviewed works and books/book chapters on mobility-aware computing, self-organization, energy efficiency, mobility modeling, and (wireless) networking.