Main Topic

Planning algorithms for multi-robot systems under spatio-temporal and communication constraints represent an active area of research with a wide range of applications, including rescue missions, timed formation control, patrolling, and coverage of unknown areas.

This project involves exploring different approaches for planning trajectories in a multi-agent setup when the system is subject to various constraints. Methods open for exploration include B-spline optimization, physics-informed neural networks, genetic algorithms, and others. In particular, we will consider set-invariance methods based on the notion of control barrier functions, which allow us to cast constraints into a mathematical form amenable to numerical optimization.

For more details, you can contact me by email at gremar@kth.se.

Requirements

Here is a list of recommended requirements for this project. Above all, however, I consider passion for your field of study to be the most important. People from any field or background are welcome to apply.

Highly Recommended

1. Strong mathematical background in the broad areas of control, systems theory, and robotics.
2. Interest in problems related to multi-agent systems and cooperative control.
3. Good knowledge of Python programming and Git.
4. Ability to pursue ideas and projects independently.

Optional

1. Familiarity with ROS1 or ROS2.
2. Experience with Unix-based operating systems.
3. Previous experience with robotic platforms.