Acronym SACOR
Funding Reference FCT - POSI/SRI/40999/2001
URL http://omni.isr.ist.utl.pt/~jseq/SACOR/
Dates 2002|2006
Summary

This projects aims at developing a distributed architecture to control multiple robots cooperatively, executing realistic missions with the help of human specialists. Foreseen practical applications include the assistance to the elderly and handicapped and remote surveillance and maintenance.
This project addresses the following topics:
(1) Synthesis of motion strategies (actions) using Viability Theory;
(2) Hybrid representation of the team state, with the discrete part of the state including event information exchanged among robots and specialists, and the continuous part of the state including the actions;
(3) Properties relevant from the mission execution perspective, namely controllability and stability, in the context of the hybrid systems addressed in topic (2).
Topic (1) discusses the influence of uncertainty in the synthesis of each of the robot’s actions by selecting classes of controllers that make a differential inclusion (the action) viable in some pre-assigned set (the set bounding the possible trajectories in the robot’s C-space).
Topic (2) addresses the formal aspects of joining the relevant issues in viability theory with those in hybrid systems theory.
Topic (3) addresses the effect of negotiation models in team controllability and stability and on the formation of coalitions.

Research Groups Intelligent Robots and Systems Group (IRSg)
ISR/IST Responsible
João Sequeira
People
Isabel Ribeiro
[1] João Sequeira, Isabel Ribeiro, Single And Multiple Robot Control: A Geometric Approach, Technical Report RT-602-03, Institute for Systems and Robotics (ISR/IST), 2003 - PDF
[2] João Sequeira, Isabel Ribeiro, A Geometric Approach to Single and Multiple Robot Control, Proc. SYROCO2003 - 7th IFAC Symposium on Robot Control, Wroclaw, Polonia, pp. 137-142, 2003
[3] João Sequeira, Isabel Ribeiro, A Layered Approach to Multiple Robot Control, Proc. MMMAR2003 - 9th IEEE International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, pp.745-750, 2003
[4] João Sequeira, Isabel Ribeiro, Robot Team Control: a Geometric Approach, Proc. of ICAR2003 - 11th International Conference on Advanced Robotics, Coimbra, Portugal, pp. 1502-1507, 2003
[5] João Sequeira, Isabel Ribeiro, Hybrid control of a car-like robot, Proc. RoMoCo 2004 - 4th IEEE International Workshop on Robot Motion Control, Puszczykowo, Poland, pp. 167-173, 2004
[6] João Sequeira, Isabel Ribeiro, Behavior-based control for semi-autonomous robots, Proc. of IAV 2004 - 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 2004 - PDF
[7] João Sequeira, Isabel Ribeiro, Hybrid control of semi-autonomous robots, Proc. IROS2004 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 1838-1844, 2004 - PDF
[8] João Sequeira, Isabel Ribeiro, Behavioral control of robot teams, Proc. of the Workshop on Networked Robotics: Issues, Architectures and Applications, integrated in IROS2004 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 105-110, 2004 - PDF
[9] João Sequeira, Isabel Ribeiro, Towards a Semi-Autonomous Robot Control Architecture, V1.0, Instituto de Sistemas e Robotica, Portugal, 2004
[10] João Sequeira, Isabel Ribeiro, Topics on Human-Robot Interfacing, V0.0, Instituto de Sistemas e Robotica, Portugal, 2004
[11] Sérgio Guerreiro, João Sequeira, An Information System Architecture for Project SACOR, V1.0, Instituto de Sistemas e Robotica, 2004