Scope: This module presents some methods for analysis and control of multi-robot systems.
Audience: This 3-credits module is part of Elective in Robotics, a 4-module course offered to students of the Master in "Artificial Intelligence and Robotics" at Sapienza University of Rome. It can also be taken by students of the Master in "Control Engineering" as one of the two modules of Control Problems in Robotics. Finally, it may also taken as the second module of the course Control of Autonomous Multi-Agent Systems.
Detailed contents: Examples of applications of multi-robot systems. Centralized vs. decentralized architectures. Elements of graph theory. Connectivity and Consensus; Passivity and Lyapunov stability; Interconnection of mechanical systems. Application to multi-UAV systems: Formation control with time-varying topology; Formation control with connectivity maintenance; Steady-state behaviors; Overview of other multi robot problems.
Prerequisites: The module has no formal prerequisites. However, familiarity with basic concepts of automatic control and robotics is strongly recommended.
ECTS credits for this module: 3 credits
Schedule: 16/04/2020-26/05/2020, Tuesday 14:00-16:00 Thursday 14:00-17:00. THE COURSE IS NOW OVER.
Lectures: lectures will be in streaming on Google Meet, link: https://meet.google.com/aet-orjr-pzq
Course material:
Introduction
Elements of Graph Theory, Consensus and Rigidity
Passivity
Port-Hamiltonian modeling
Formation control
Cooperative localization and other multi-robot problems
Swarm robotics (guest lecture by Vito Trianni)
Exam material:
Description of projects
List of projects
List of research articles