Local Control Strategies for Motion Coordination of Autonomous Mobile Agents

Prof. Zhiyun Lin (Zhejiang University)

DATE: 2009-10-30
TIME: 11:00:00 - 12:00:00
LOCATION: RSISE Seminar Room, ground floor, building 115, cnr. North and Daley Roads, ANU

ABSTRACT:
Abstract: Given a set of autonomous agents (e.g., mobile robots), it is no easy matter to design a control law for each agent using only local information to achieve desired collective motions. However, the natural world abounds with spectacular examples of such emergent behaviors. In this talk we will overview several problems within this area. First, we will explore pursuit-based strategies for a large number of agents with both single-integrator kinematics and double-integrator dynamics on directed acyclic graphs (DAGs), in which the agents without neighbors are leaders. Based on signal flow graph and Mason's rule, necessary and sufficient conditions are derived for BIBO stability of the resulting overall system. Achievable collective motions and formations are analyzed. Second, we will discuss distributed control laws for cooperative target-enclosing problems, that is, to steer a group of autonomous agents to reach desired relative positions (and possibly orientations) with respect to a specific target and other group-mates. Each agent only uses the relative position information of the target and its neighbors that may be dynamically change over time. A local control law is provided consisting of two parts: one amounts to ensuring the convergence of the agents toward the target and the other is used to achieve the uniform distribution when enclosing the target. Third, a local observer scheme will be presented to asymptotically estimate the centroid of a network of agents in a cooperative fashion by local information exchange. More discussion will be given on how to devise control strategies based on the estimate of the group centroid in solving cooperative control problems such as rendezvous, circling, and target enclosing.

BIO:
Zhiyun Lin received his Ph.D. degree in electrical and computer engineering from University of Toronto, Canada, in 2005. From 2005 to 2007, he was a postdoctoral researcher in the Department of Electrical and Computer Engineering at University of Toronto, Canada. In 2007 he joined the Department of Systems Science and Engineering at Zhejiang University, China, as a Research Professor. He also holds a visiting professorship at the Department of Electrical and Electronic Engineering, University of Cagliari, Italy, from July to October, 2009 and from February to March, 2010. His recent research is concentrated on large scale networked multi-agent systems, cooperative control of distributed robot systems, wireless sensor networks, switched and hybrid systems, and locomotion control of legged robots.

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