The deployment of swarms of robotic vehicles has been shown to be effective for a wide range of applications based on cooperative tasks such as reconnaissance, surveillance, foraging or search and rescue. Most of the time, in such collaborative missions, the field of interest is relatively large with respect to the size of the multi-robot system. Therefore, the swarm must be divided into smaller groups (clusters) to move towards different areas and conduct different tasks simultaneously.
The goal of this Master Thesis is to exploit recent advancements on the topic of multi-robot control for the design and analysis of distributed control laws to achieve autonomous formation of clusters in a swarm of mobile robots.
The work will be carried in English at the Centre Inria de l’Université de Rennes research center in Rennes, France.
For more details (including on how to apply) please see the website: https://erestrep.github.io/positions/m2-cluster-consensus/
