Distributed and Cooperative Control for Multi-agent Systems

Ausgew¨ ahlte Kapitel der dynamischen Systeme

Distributed and Cooperative Control for Multi-agent Systems

Institute f¨ ur Design und Regelung Mechatronischer Systeme Syllabus − Spring 2012

Instructor: Fabio Morbidi

Office: Science Park, 2nd Floor, Room 208 Tel: (+43) 732 2468 6222

Email: [email protected] Time and place:

Thursday: 10:15-11:45, MT 132 (LVA-N

: 363001 (2012S)) Thursday: 12:00-12:45, MT 132 (LVA-N

: 363000 (2012S))

Course description: In recent years, we have experienced a significant resear- ch effort towards the analysis and control of multi-agent and networked systems.

The objective of the course is to provide an overview of the most important pro- blems in this field, and of the main methods and techniques currently available for studying such systems. Special emphasis will be given to topics that have been the subject of extensive research in the recent control and robotic litera- tures. New promising research directions will be also discussed. In particular, the main topics covered in the course are the following:

• Network models (Algebraic and spectral graph theory)

• Dynamics over networks (Consensus protocol and its extensions)

• Formation control

• Coverage control

• Cooperative localization and cooperative simultaneous localization and map building (SLAM)

Reference books: The material of the course is drawn from:

• “Graph Theoretic Methods in Multiagent Networks” by M. Mesbahi and M. Egerstedt, Princeton University Press, 2010

• “Distributed Control of Robotic Networks ” by F. Bullo, J. Cort´ es and S. Mart´ınez, Princeton University Press, 2009 (Electronically available at:

http://coordinationbook.info) Further reading:

• “Algebraic Graph Theory” by C. Godsil and G. Royle, Springer, 2001.

• “Spectral Graph Theory” by F.R.K. Chung, American Mathematical Society, 1997.

Prerequisites: Some basic knowledge of linear algebra, linear control systems, and differential equations.

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Student evaluation: The students will be evaluated according to a:

• Project (35%): The project consists of presenting a paper relevant to the topics of the course. The presentation will be accompanied by a project report due at the end of the course (The report format: 1) abstract, 2) problem setup and assumptions, 3) basic results, simulations, 4) conclu- sions, 5) references. The report should be no more than 5 pages [single space, 11 pts fonts, one column] except the simulation/code).

Some representative journals that you might like to start consulting for se- lecting your project topic are: IEEE Transactions on Automatic Control, Automatica, IEEE Transactions on Control Systems Technology, Systems and Control Letters, IEEE Transactions on Robotics, International Jour- nal of Robotics Research, Robotics and Autonomous Systems. Please check with the Instructor about your selected project topic by the end of April.

• Final written exam (65%): The exam (exercises + theoretical que- stions) will cover all the topics of the course.

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