EECI09: Cooperative control

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In this lecture we present a survey of recent research in cooperative control of multivehicle systems, using a common mathematical framework to allow different methods to be described in a unified way. The survey has three primary parts: an overview of current applications of cooperative control, a summary of some of the key technical approaches that have been explored, and a description of some possible future directions for research. Specific technical areas that are discussed include distributed receding horizon control, cooperative tasking and spatiotemporal planning.

Lecture Materials

Further Reading

  • R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, J. Guidance, Control and Dynamics, 2007.

  • J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", IEEE T. Automatic Control, 49(9):1465-1476, 2004.

  • W. B. Dunbar and R. M. Murray, "Distributed receding horizon control for multi-vehicle formation stabilization". Automatica, 42(4):549--558, 2006.

Additional Information