Course: EW417 Control of Multi-Agent Systems
3 Credits – 2 Recitation Hours – 2 Laboratory Hours
Course Description:
Recent technological advances in electronics, computing, and wireless communications have enabled the use of multiple autonomous networked agents in a wide range of commercial, military, and scientific applications. Nowadays, multi-agent systems are employed for surveillance, force protection, environmental sampling, power distribution, and smart building management, among many other tasks. This course will focus on the control and coordination of cooperative multi-agent systems with special emphasis in networks of mobile robots.
Pre-requisites:
EW306 or EW306H
Course Coordinator:
Assoc. Prof. Rodriguez-Seda
Textbook:
None
Course Objectives:
This course is designed to provide students with an introduction to the control and coordination of multi-agent systems. At the completion of the course, the student will be able to:
Understand the control and communication challenges that multi-agent systems face
Understand and apply fundamental concepts and tools on graph theory and stability
Design and evaluate consensus control algorithms for multi-agent systems
Design and evaluate cooperative control laws for multiple mobile robot networks for formation control, collision avoidance, coverage control, and other areas of robotics
Design control laws that are robust to communication challenges such as delays, limited information, and cyber attacks
Topics: LIST
Intro to multi-agent networks
Graph theory basics
Connectivity
Consensus (Static)
Lyapunov stability
Potential Field Methods
Mobile Robots: Formation Control
Mobile Robots: Navigation
Mobile Robots: Collision Avoidance
Mobile Sensors: Coverage Control
Communication Challenges