Overview
This project focuses on developing safe distributed control algorithms for multi-robot systems, with particular emphasis on handling communication delays that are common in real-world deployments.
Research Challenge
Multi-robot systems often operate in environments where communication delays can lead to safety violations. Our work provides theoretical guarantees and practical algorithms to maintain safety despite these delays.
Key Contributions
Safety Guarantees
- Theoretical analysis of safety conditions under communication delays
- Mathematical frameworks for ensuring system safety
- Robust control strategies for uncertain environments
Practical Algorithms
- Efficient implementations for real-time systems
- Scalable solutions for large robot teams
- Hardware-accelerated control algorithms
Experimental Validation
- Comprehensive testing on physical robot platforms
- Real-world deployment in challenging environments
- Performance evaluation under various conditions
Applications
- Warehouse automation
- Search and rescue operations
- Environmental monitoring
- Collaborative manufacturing
Publications
- “Safe Distributed Control of Multi-Robot Systems With Communication Delays” - IEEE Trans. Vehicular Networks
- “Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs” - ISER 2025
Collaborators
- Prof. Luca Carlone (MIT SPARKlab)
- Various researchers in robotics and control systems
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