Fault tolerant, reconfigurable, scalable and distributed multi-agent formation control

Professor Soura Dasgupta (College of Engineering, Uni of Iowa.)

DATE: 2006-06-09
TIME: 11:00:00 - 12:00:00
LOCATION: RSISE Seminar Room, ground floor, building 115, cnr. North and Daley Roads, ANU

ABSTRACT:
Fault tolerant, reconfigurable, scalable and distributed multi-agent formation control

Ryan O. Abel, Soura Dasgupta and Jon G. Kuhl University of Iowa

Abstract: Spurred by major advances in computing, wireless communications and networking, and an ever expanding application domain, there has been a growing interest in the cooperative control of networks of mobile autonomous agents. Such networks involve multiple mobile objects that cooperate to achieve any number of objectives. Cooperation is effected through limited exchange of information between the agents over wireless media with little or no centralized intervention.

After giving a brief overview of this area, we will present new results where each agent is modelled as a double integrator. The goal is to force the agents to converge to a formation specified by their desired relative positions, and moving on an arbitrary trajectory. We only define a geometric topology for the agent formation, and by correctly choosing a cost function, show that our one step ahead optimal algorithm produces a communication topology mirroring the geometric topology. By providing some redundancy in the formation topology it is possible for the system to survive the loss of an agent. Other attractions of the scheme are scalability, the requirement of only local knowledge of the desired formation topology and ease of reconfiguration in the face of loss of agents and/or channels.

This extends work reported in earlier talk given at this institute by: (i) permitting arbitrary formation trajectories and (ii) inducing enhanced scalability.

BIO:
Soura Dasgupta is a Professor of Electrical and Computer Engineering at the University of Iowa, USA. He was the first Ph.D. to have graduated from Systems Engineering, ANU.

http://www.engineering.uiowa.edu/faculty-staff/profile-directory/ece/dasgupta_s.html

MEDIA:
060609_dasgupta.pdf
060609_dasgupta_redirect.html

	Skip Navigation CECS Home \| ANU Home \| Search ANU \| HORUS \| Staff Home
	Seminars @ CECS ANU College of Engineering and Computer Science