Projects
Active project: Swarm Robotics for Industry 4.0
As a member of the Swarm Robotics for Industry 4.0 project (Advisor: Prof. Anders Lyne Christensen), my
research centers on developing advanced methods for decentralized control of
fleets of autonomous mobile robots in industrial environments, with a
particular focus on Industry 4.0 (I4.0). The goal is to create efficient
coordination mechanisms for large fleets of mobile robots to work together and
share sensor data in I4.0 environments. Additionally, we are exploring ways to
extend these methods to less controlled environments where unexpected obstacles
may appear, while also closing the gap between simulations and real-world applications.
As Industry 4.0 increasingly emphasizes decentralized control, we have developed
a decentralized multi-agent system enabling robots to negotiate and coordinate
to resolve conflicts in I4.0 environments. Furthermore, contributing to the
literature on multi-AGV scheduling while investigating a novel capacitated
multi-AGV scheduling problem with conflicting products, we have developed a
decentralized multi-agent system (DMAS) in which robots coordinate in a
decentralized manner to distribute product transport tasks among themselves and
plan their routes while respecting their limited capacity and the product
compatibility constraints. This
research is aimed at achieving more efficient and effective operations in
various industries such as logistics, manufacturing and transportation.
Q-learning-based navigation for mobile robots in continuous and
dynamic environments
Decentralized Multi-Agent Path Finding in Warehouse Environments for Fleets of Mobile Robots
Decentralized Multi-agent Path Finding in Dynamic Environment
Previous projects
Development and supervision of an industry 4.0 platform
My primary area of focus in this project was the development and implementation of technology and R&D tasks related to Industry 4.0 platforms and the integration of industrial robotic 4.0 concepts. This work package encompasses a wide range of activities, including the design and implementation of advanced algorithms, the development of new control systems and the integration of smart automation technologies:
T1- Design and implementation a collaborative task, and utilizing Java programming and the KUKA workbench to integrate the KUKA LBR iiwa 7R800 collaborative robot into the I4.0 platform (See the video below).
T2- Developing a RFID-based tracking system (using Siemens UHF) for tracking assembly parts on the platform (I4.0) and its integration with the existing PLC control system.
T3- Overall design and development of Microcontroller based motion control system for an AGV system and development of a software application dedicated to the control and monitoring of robot task execution (Csharp, Arduino, and Hokoyo integration).
T4- Developing a navigation approach with obstacle avoidance by using reinforcement learning.
Realization of an aquatic boat robot for bathymetry
The project consists in providing a secure solution to carry out the bathymetric measures while realizing a boat robot controlled remotely.
- My task in this project was the electronic realization of the robot.
Remote control of heterogeneous robots in a cyber-physical system (Advisor: Prof. Abdelfetah Hentout )
- T1- Developing a distributed multi-agent decisional system for scheduling and controlling multi-robot systems in industrial environments.
- T2- Developing path optimization methods for mobile robots using different optimization algorithms (Genetic algorithm, Q-learning, etc.).
- T3- Developing a Fuzzy-based controller for a mobile manipulator robots.
- T4- Collaboration mapping.
- T5- Fault-tolerant multi-agent scheme for leader/follower formation control of homogeneous mobile robot fleet.