** The last lecture will be on Thursday 19/04/2022 at 8:00 in room A7 **
Please sign to the Google Classroom page: dt6ytst
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: 12/04/2022-19/05/2022, Tuesday 14:00-16:00 Thursday 08:00-12:00.
Lectures: lectures will be in streaming on Zoom:
https://uniroma1.zoom.us/j/85494843021?pwd=WkFvN28zcXdvWkZDUW93WFpOQVZoZz09
Meeting ID: 854 9484 3021
Passcode: 375410
Course material:
Elements of Graph Theory, Consensus and Rigidity