Coordination and control of mobile multi-robot systems in unstructured environments

University of Turku

Finland encompasses extensive maritime, fluvial, and coastal regions. The effective and dynamic evaluation of water resources, climate, and environmental conditions within these areas is essential for addressing the knowledge gaps crucial to modernizing agriculture, encompassing farming, animal husbandry, aquaculture, and forestry. This need becomes increasingly critical amidst global climate change, which dynamically affects various environmental aspects, including resource usage and sustainability. One significant challenge in this monitoring process is the accessibility of probes to areas of interest, as many of such regions are unstructured and have limited accessibility, both temporally and spatially. The primary goal of this project is to develop autonomous management of monitoring systems designed for automated 4D (3D + time) data collection in such unstructured areas in Finland. Our focus is on pioneering observational systems equipped with mobile robots, setting the stage for innovative sensor systems and perception methods. By managing multi-robot systems in challenging terrains, we aim to achieve accurate and efficient data gathering and processing. This approach offers a groundbreaking solution for a range of AI-enhanced services and applications, especially in environments that are difficult to access.

We are seeking a distinguished doctoral candidate with expertise in both individual and collective robot control and management, as well as in distributed computing systems. This project is dedicated to developing an adaptive network of sensing robots tailored for operation in the unstructured terrains of maritime, fluvial, and coastal regions within Finland (the case study will be determined later). The initiative focuses on the coordination of these robots to enable efficient surveillance and environmental monitoring. The research will involve comprehensive assessment of the conditions affecting water bodies, trees, soil, and climate in the mentioned areas, delving into their complex interactions. The detection of local events will include monitoring environmental fluctuations such as water-environment dynamics, vegetation health, soil quality, and CO2 emissions. A key aspect of the project is the development of a management strategy that addresses the constraints of the system, ensuring the sustainability of data collection while optimizing the efficiency and power usage of the robotic network.

The ideal candidate should possess an active approach, diligence, and strong cooperation skills. A willingness to work collaboratively within a team and a passion for continuous learning are essential. This role offers an excellent environment for testing robots and evaluating multi-robot coordination algorithms. Enthusiastic candidates open to working with different types of mobile robots such as drones, rovers, and underwater robots are encouraged. An outstanding master’s degree in computer science, mechanical engineering, mechatronics, or related fields, including master’s students who will complete their master’s degree in 2024 by the date set by the involved doctoral programme at UTU. Proficiency in LiDAR and image recognition is considered a plus. A background in multi-agent systems control will be highly regarded and beneficial for the success of this project.

FGI

Department of Computing/ Faculty of Technology

Prof. Juha Plosila, UTU

Adj. Prof. Hashem Haghbayan, UTU

Research Prof. Eija Honkavaara, FGI

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