Difference between revisions of "EECI08: Formation Control in Multi-Agent Systems"

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we consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions.  We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability.  We also summarize recent extensions to this work using distributed receding horizon control.
 
we consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions.  We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability.  We also summarize recent extensions to this work using distributed receding horizon control.
  
====  Lecture Materials ====
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==  Lecture Materials ==
 
* Lecture slides: {{eeci-sp08 pdf|L10_coopctrl.pdf|Cooperative Control}}
 
* Lecture slides: {{eeci-sp08 pdf|L10_coopctrl.pdf|Cooperative Control}}
  
====  Additional Information ====
+
== Further Reading ==
 
+
==== Further Reading ====
+
 
* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.
 
* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.
 
* R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, ''J. Guidance, Control and Dynamics'', 2007.
 
* R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, ''J. Guidance, Control and Dynamics'', 2007.
 
* W. B. Dunbar and R. M. Murray, "Distributed receding horizon control for multi-vehicle formation stabilization".  ''Automatica'', 42(4):549--558, 2006.
 
* W. B. Dunbar and R. M. Murray, "Distributed receding horizon control for multi-vehicle formation stabilization".  ''Automatica'', 42(4):549--558, 2006.

Revision as of 01:05, 29 March 2008

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In this lecture we introduce the problem of cooperative control of a multi-agent system. As an initial problem, we consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also summarize recent extensions to this work using distributed receding horizon control.

Lecture Materials

Further Reading

  • J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", IEEE T. Automatic Control, 49(9):1465-1476, 2004.
  • R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, J. Guidance, Control and Dynamics, 2007.
  • W. B. Dunbar and R. M. Murray, "Distributed receding horizon control for multi-vehicle formation stabilization". Automatica, 42(4):549--558, 2006.