Remote Optimal, Adaptive Control of Mobile Robots with Non-Deterministic Components

This project addresses the remote control of mobile robots in situations where some components of the system are non-deterministic in time or incompletely modelled. These components include the communication network, the robot hardware and the software used in all the parts of the system (operating systems, middleware, applications). The fundamental problem with unpredictable components is to guarantee that all the information flows through the control loop in a timely fashion, guaranteeing to the most the achievement of real-time requirements.

This main goal is not only important for mobile robots, most of which have unavoidable dependable characteristics, but it is also applicable in other areas: telepresence, surveillance, teleconferencing, telecare,remote sensors, etc.

The main approaches in the project are the optimal, adaptive regulation of the information (mostly sensory) flow through the system and the development of new algorithms for mobile robot behavior based on probabilistic approaches.

REFERENCE: P08-TIC-04282
TITLE: REMOTE OPTIMAL, ADAPTIVE CONTROL OF MOBILE ROBOTS WITH NON-DETERMINISTIC COMPONENTS
PRINCIPAL RESEARCHER: JUAN-ANTONIO FERNÁNDEZ-MADRIGAL
INSTITUTION: JUNTA DE ANDALUCÍA (Regional Government)
DEPARTMENT: SYSTEM ENGINEERING AND AUTOMATION
DATES: 13/01/09 to 13/04/13
EXTENDED: 31/12/13

Team:

Dr. Juan-Antonio Fernández-Madrigal (PI)
Dr. Ana Cruz-Martín
Dr. Cipriano Galindo-Andrades
Dr. Vicente Arévalo-Espejo
Dr. José-Luis Blanco-Claraco
Ana Gago-Benítez (PhD Student)
Ángel Martínez-Tenor (PhD Student)
Elena Cruz-Martín (external colaborator on behalf of Telefónica I+D)

Institutional information (in Spanish): Proyecto de Investigación de excelencia P08-TIC-04282 de la Consejería de Innovación, Ciencia y Empresa de la Junta de Andalucía, convocatoria 2008; evaluado con 71 sobre 100; concedido por Resolución de 16 de Diciembre de 2008 de la Secretaría General de Universidades, Investigación y Tecnología (BOJA 13/01/2009); con dotación para 1 persona de apoyo licenciada; 161.960 euros (104.000 personal + 35.000 ejecución + 22.960 complementarios); a ejecutar en 4 años.

Publications:

Media:

1. Press