Seminar Details
2007-02-06 (14pm) : "Consensus on the N-Torus and Collective Motion in Three Dimensions"
At Auditoire Euler
Organized by Mathematical Engineering
Speaker :
Luca Scardovi (ULg)
Abstract :
Over the past decade, particular attention has been devoted to the study of collective problems where interacting agents must
reach a common objective under information and communication constraints. These problems arise in a variety of disciplines
including physics, biology, computer science and systems and control theory. In this talk a design methodology is presented to address
collective problems in presence of mild assumptions on the communication topology. In the first part of the talk, we study the behavior
of a network of $N$ agents, each evolving on the circle. We propose a novel algorithm that achieves synchronization or balancing in phase
models under mild connectedness assumptions on the (possibly time-varying and
unidirectional) communication graphs. In the second part of the talk, we address the problem of stabilizing relative equilibria in
a model of identical, steered particles moving in three-dimensional Euclidean space. We provide static and dynamic control laws
to achieve the desired equilibria in presence of all-to-all and limited communication respectively.