Research


Research Interests Current Research Work Research Projects Past Research Projects
 Return to Main Page

Research Interests

Robotics, coordination and cooperation of multiple UAVs, software architectures for real-time systems and control theory applied to autonomous systems.

Current Research Work:

    Being interested in methods that allow the coordination and cooperation among robots, nowadays I am working on the task allocation problem. With the aim that the system will be more flexible and fault tolerant, an algorithm is being developed to solve the task allocation problem in a distributed and efficient manner

Research Projects:

The reseach projects that I am involved are (to check out the Past Reserch Projects that I was involved in, please click here): 
 

    AWARE:  Platform for Autonomous self-deploying and operation of Wireless sensor-actuator networks cooperating with AeRial objEcts

    The general objective of the project is the design, development and experimentation of a platform providing the middleware and the functionalities required for the cooperation among aerial flying objects, i.e. autonomous helicopters, and a ground sensor-actuator wireless network, including mobile nodes carried by people and vehicles. The platform will enable the operation in sites with difficult access and without communication infrastructure. Then, the project considers the self-deploying of the network by means of autonomous helicopters with the ability to transport and deploy loads (communication equipment and nodes of the ground network).

    AEROSENS: Robots aéreos y redes de sensores con nodos móviles para la percepción cooperativa

    The project aims at the development of a system based on the use of aerial and ground robots and sensor networks for cooperative perception. The system is based on the joint application of Aerial Robotics and the technology of Wireless Sensor Networks. Several autonomous and teleoperated vehicles will be used including an helicopter previously developed by the Research Group and an autonomous airplane to be developed in the project from the adaptation for autonomous operation of a small unmanned commercial airplane. The helicopter manoeuvrability and hovering capability will allow reaching locations with constrained accessibility, collecting information and communicating with the on-ground sensors. The airplane will provide larger exploration range and velocity communicating with an on-ground mobile station. The information provided by the sensors on the vehicles and on the ground will be processed by the cooperative perception system to be developed in the project. This system will be designed taking into account redundancy and reliability criteria on the information provided and the trajectory planning of the aerial and ground vehicles.


Projects in which I am collaborating with HumAnS Lab (Georgia Institute of Technology)

    Robotics Sensor Networks:

    Sensor webs (or networks) have been shown to be a powerful tool for in-situ science applications ranging from earthquake forecasting to understanding climate change.  These networks capitalize on their ability to deploy cheap nodes throughout a region of interest in order to gather information relevant for scientific analysis.  Recently, there has been growing interest in mobile networks to deal with the limitations of static networks, including issues of network deployment, coverage, and fault tolerance. In this project, it is employed a natural extension of the sensor web concept  that enables controlled reconfiguration of sensor assets for fault-tolerant in-situ sampling. The main motivation behind this approach is to apply decentralized control algorithms for network adaptation and deployment while establishing the global sensing capability required for science investigations.


 

Research Interests Current Research Work Research Projects Past Research Projects
 Return to Main Page