Student-Faculty Programs Office
Summer 2017 Announcements of Opportunity

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Project:  Multi-mission multi-agent robotics for maritime applications: Perception and Autonomy
Disciplines:  Computer Science, Electrical Engineering and Computer Science
Mentor:  Michael Wolf, (JPL), michael.t.wolf@jpl.nasa.gov, Phone: (818) 393-2666
Background:  JPL leads a variety of maritime robotics research projects. We are designing systems for (a) coordinated behaviors for teams of robotic agents, and (b) vision-based situational awareness that aid in guiding that team. The application that will be addressed will be for autonomous unmanned surface vehicles (robotic boats).
Description:  The student will assist in development and testing algorithms for mutli-agent cooperative control and/or vision-based perception systems. This may include prototyping computer vision or control algorithms, building multi-agent simulation environments, and managing experiments to evaluate the performance of existing algorithms. The student will contribute to a JPL team of autonomy and computer vision experts.
References:  M. T. Wolf, C. Assad, Y. Kuwata, A. Howard, H. Aghazarian, D. Zhu, T. Lu, A. Trebi-Ollennu, and T. Huntsberger, 360-degree visual detection and target tracking on an autonomous surface vehicle, Journal of Field Robotics, vol. 27, Nov. 2010 T. Huntsberger, H. Aghazarian, A. Howard, and D. Trotz, Stereo visionbased navigation for autonomous surface vessels, Journal of Field Robotics, vol. 28, Jan. 2011. Y. Kuwata, M. T. Wolf, D. Zarzhitsky, and T. L. Huntsberger, "Safe Maritime Autonomous Navigation with COLREGS, Using Velocity Obstacles," IEEE Journal of Oceanic Engineering, 39(1): 110-119, 2014. T. Huntsberger, P. Pirjanian, A. Trebi-Ollennu, H.D. Nayar, H. Aghazarian, A. Ganino, M. Garrett, S.S. Joshi, and P.S. Schenker, "CAMPOUT: A Control Architecture for Tightly Coupled Coordination of Multi-Robot Systems for Planetary Surface Exploration," IEEE Trans. Systems, Man & Cybernetics, Part A: Systems and Humans, Special Issue on Collective Intelligence, 33(5): 550-559, 2003. A. Stroupe, A. Okon, M. Robinson, T. Huntsberger, H. Aghazarian, and E. Baumgartner, "Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance," Autonomous Robots, 20(2): 113-123, 2006.
Student Requirements:  Strong software skills, with experience in C++ and Linux preferable. Experience in simulation, computer vision, or multi-agent systems desired if applying for roles in those respective areas. No previous experience or specific software skills required for roles in managing and annotating data sets and running experiments.
Location / Safety:  Project building and/or room locations: . Student will need special safety training: No.
Programs:  This AO can be done under the following programs:

  Program    Available To
       SURF    both Caltech and non-Caltech students 

Click on a program name for program info and application requirements.


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Problems with or questions about submitting an AO?  Call Jen Manglos of the Student-Faculty Programs Office at (626) 395-2885.
 
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