|
|
|
|
|
|
My main research interests are focused on Artificial Intelligence and Robotics. More specifically I am interested in the following aspects: |
Multi-agent systems for control architectures
My research during the PhD thesis was focused on proposing a general coordination architecture for a group of systems (and/or agents) that control a robot. This coordination architecture is based on a bidding mechanism, which can be used at different levels of the architecture. With this mechanism, the action being exectued by the robot is the most urgent one at each point in time, and thus, if the agents bid rationally, the dynamics of the biddings lead the robot to execute the necessary actions in order to reach a given goal. For more information about the coordination architecture, see some of the papers or my thesis in the Publications section. |
Qualitative navigation and Map building
In the PhD thesis we also developed a landmark based navigation system. These landmarks were used to represent the environment in a topological map. We used fuzzy information about the location of the landmarks, so that the system could handle imprecise data coming from the real world. We also provided the robot with orientation sense by having the mapping system store the relationship of the landmarks in the environment. With these stored relationships, the location of an occluded landmark can be computed using the location of other visible landmarks. For more information about the mapping and navigation system, see some of the papers or my thesis in the Publications section. |
I am currently working on the FIRE (Federation of Intelligent Robotic Explorers) project. This project is aimed at investigating multi-robot coordination for planetary exploration. More specifically, it focuses on market-based mechanisms in order to coordinate the different robots of the team. For more information, visit the FIRE project homepage. |
Last updated:
1/02/05
|
