Seminar Details
2007-06-12 (14.00) : Switching Control for Multi-Agent Formation Maintenance
At Euler building
Organized by Mathematical Engineering
Speaker :
Fidan, B.
Abstract :
This talk is on maintenance of formation geometries of a class of autonomous multi-agent systems
moving in formation, namely persistent formations, using decentralized switching control schemes.
In a persistent formation, the formation shape is maintained during any continuous motion via a set
of constraints on each agent to keep its distances from a pre-specified group of other neighboring agents
constant. The talk consists of several cohesive motion control problems for persistent autonomous formations.
The aim in the first two of these problems is designing distributed control schemes for moving a given persistent
formation with specified initial position and orientation to arbitrary desired final position and orientation without deforming
the shape of the formation during the motion, one for obstacle-free environments and the other for regions with obstacles.
The third problem is on obstacle avoidance and rendezvous of a team of three unmanned aerial vehicles (UAVs) around a common
target. In the fourth problem, a similar team of three UAVs is required to survey a region of interest in formation following a specified path.
The last problem investigated using switching control approaches is acquisition/maintenance of desired inter-agent distances for
non-hierarchical autonomous multi-agent platoons using a decentralized scheme in the existence of measurement noises,
which cause instability problems when classical controllers are used.