CASUS Institute Seminar, Dr. Wilfried Yves Hamilton Adoni, postdoctoral researcher, Center for Advanced Systems Understanding CASUS and Helmholtz Institute Freiberg for Resource Technology HIF, Helmholtz-Zentrum Dresden-Rossendorf (HZDR)

Abstract of the talk// Robot Operating System (ROS) has established itself as a suitable platform for creating robot-related applications. It provides hardware abstraction, low-level device support, inter-process communication, and valuable libraries for autonomous robot systems. ROS supports very rudimentary functionalities for aerial robots, often known as unmanned aerial vehicles (UAV) or drones. Furthermore, because it is based on Linux, it cannot ensure real-time functioning. As a result, it is challenging to create complex ROS applications that require a swarm of drones to interact in order to complete a common task. Wilfried presents a distributed ROS framework which offers efficient functionalities for distributed operation on numerous UAVs flying concurrently. It uses a multi-tier architecture with a decentralized communication layer to provide intra-UAV communications and scalability for swarm UAVs. It has a series of daemons whose function is to govern the swarm’s consensus control and failover policies in order to achieve convergence toward a shared aim. Experiments with real-world swarms show that the proposed framework is portable and meets performance standards for collaborative mission applications. Wilfried and his colleagues then carried out a coverage planning mission using the parallel back-and-forth method, demonstrating the framework’s efficiency in terms of time and energy. The results of this research should pave the way for an open-source ecosystem dedicated to facilitating the development of collaborative missions, particularly for multi-UAV systems.

CV// Wilfried is a researcher at both CASUS and HIF. The computer scientist has been nominated Best African Male Geo-spatial Analyst/Robotic Automation Specialist in Germany at AFRONEWS Awards 2023. He joined the elite group of young big data specialists with IBM BigInsights V2.1 in 2015. Wilfried received his B.S., M.E, and Ph.D in Computer Science and Applied Mathematics from the Science Faculty of Hassan II University of Casablanca, Morocco. He also served as Assistant/Associate Professor of Computer Science at the International University of Casablanca. Wilfried’s interest is in new technologies like drones/UAVs, big data, HPC, machine learning, artificial intelligence and internet of things.

Wilfried will be talking live in Görlitz. However, as the event is organized in a hybrid format that includes a videoconferencing tool by Zoom Inc., people interested in the topic have the chance to also join the talk remotely. Please ask for the login details via contact@casus.science.