Lectures Autumn 2024:

• TBA

Main instructor and coordinator:

• Professor Kostas Alexis

The course offers a comprehensive introduction to the theory and operation of networked underwater, surface and air vehicles from the perspective of software frameworks for planning and execution control. The learning objectives are to understand models and organizing principles for these systems, with special emphasis on models of systems with dynamic structure, as well as on coordination and execution control algorithms from the software implementation point of view. The modeling aspects are addressed in the framework of dynamic networking of hybrid automata and models of computation and discussed with the help of the Stateflow modeling framework. The coordination and execution control challenges are discussed with the help of a few case studies, ranging from automated highway systems to the exploration of ocean fronts with multi-domain vehicles. The focus is on planning and execution control architectures for networked vehicle systems. The software implementation challenges are addressed with the help of two software frameworks for multi-vehicle systems: the LSTS software toolchain and ROS.

The course is organized into the following modules:

• Module 1: Introduction to Networked Vehicle Systems
• Module 2: Hybrid systems models: from fixed structure to dynamic structure
• Module 3: Stateflow: modeling and simulation
• Module 4: Coordination algorithms: design and implementation
• Module 5: Case studies in Networked Vehicle Systems
• Module 6: Software frameworks for Networked Vehicle Systems: LSTS software toolchain and ROS

Instructors:

• TBA
• Kristoffer Gryte

Office Hours: remote and by appointment

Recommended preparation: The students should be familiar with automata theory, basic control systems and C++ and/or Java programming languages. Experience with Linux-based systems is also recommended.

Side notes on selected topics will be provided to facilitate introduction to the topics.

Lecture notes, assignments, and other material will be available at the website.

LSTS software toolchain: https://lsts.fe.up.pt/toolchain

Mandatory assignments and project report.

10 minute-duration quizzes to be answered during class.

Oral exam.

TBD