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Department of control engineering and system analysis
The research activities of the SAAS group are essentially oriented in two directions: - Supervision and fault diagnosis of technical systems based on mathematical models - Advanced control of nonlinear dynamic system subject to constraints, with emphasis on reference governor methods The developed methods are applied to a wide range of areas including: - Electric energy production, distribution and storage - Mechatronics (UAVs and robotics) - Industrial processes
SELF-ORGANIZED NERVOUS SYSTEMS FOR ROBOT SWARMS
The project aimed to enhance the coordination and performance of heterogeneous robot swarms through a self-organized hierarchical control architecture. Key accomplishments include: 1. Developed the S-Drone, a novel, versatile quadrotor platform for swarm robotics research with onboard processing and sensing capabilities. 2. Designed a hierarchical control architecture enabling dynamic switching between distributed and centralized control, based on task requirements. 3. Implemented decentralized control algorithms, consensus-based control, and leader-follower approaches for efficient swarm coordination. 4. Demonstrated improved swarm performance through simulations and real-world experiments, showcasing enhanced task completion time, robustness, and adaptability. The project’s findings advance swarm robotics, providing insights into self-organized hierarchical control for multi-robot systems. Practical applications include military and civilian domains