Control of MUlti RObot Systems for Observing Dynamical PHENomena – MUROPHEN

The objective of this research project is to deeply investigate the problem of monitoring a dynamic phenomenon using a team of multiple mobile robots. The sensor-equipped robots will have the task of tracking and registering the phenomenon, and storing its evolution through a stream of data. In the system we envision, the robots will mutually localize themselves, autonomously control their own motion, and cooperatively perform the task at hand in an effective, reliable and safe manner.
We are interested in an large set of scenarios where the geometry of the observed phenomenon can change within some limits, and its motion can change in different ways. From a tracking perspective, the phenomenon can be characterized as a collection of multiple target points or objects. The concept we propose to explore in our research can thus be generally considered as multi robot system that is like an a major paradigmatic extension of the concept of motion capture system in which each sensor (robot) can control its motion in order to optimally track the phenomenon while it moves and changes.
In order to obtain a complete representation of the phenomenon and to avoid partial occlusions, the scenario we assume requires the presence of multiple sensors (i.e., multiple robots). Furthermore it requires heterogeneous kind of robots. Therefore we will consider both ground and aerial robots for this research.
The main objectives of the project can be specified as follows:
1. investigating the problem of autonomously tracking and monitoring a dynamic phenomenon using a team of multiple mobile robots, finding novel theoretical approaches and scientific solutions that advance the state-of-the-art towards the development of robotic phenomenon capture systems;
2. Implementing a real-world robotic system that applies the novel contributions of the research and disseminating the findings and advances associated with the project to the scientific community;
3. Allowing the young researcher to: assembly a team; tackle important scientific and technological prob- lems; acquire experience in project leading and take on greater responsibilities; and become a widely recognized leader in the international scientific research community.