The objective of this Master’s thesis is to develop robust connectivity maintenance strategies for multi-robot systems by dynamically optimizing the interconnection weights between robots instead of taking them as fixed functions of the state. Using a closed-loop state sensitivity framework, this work will ensure robustness to sensing and model uncertainties—such as bias or gain errors in distance and relative-position measurements—by optimizing the shape and values of interaction weights that govern robot coordination for minimizing a norm of the corresponding sensitivity matrix.
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-sensitivity/
