EECI08: Formation Control in Multi-Agent Systems - Revision history

Murray: EECI: Formation Control in Multi-Agent Systems moved to EECI08: Formation Control in Multi-Agent Systems

2009-03-01T20:17:16Z

EECI: Formation Control in Multi-Agent Systems moved to EECI08: Formation Control in Multi-Agent Systems

← Older revision		Revision as of 20:17, 1 March 2009
(No difference)

Murray: /* Further Reading */

2008-03-29T01:06:11Z

Murray at 01:05, 29 March 2008

2008-03-29T01:05:44Z

← Older revision		Revision as of 01:05, 29 March 2008
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	we consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also summarize recent extensions to this work using distributed receding horizon control.		we consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also summarize recent extensions to this work using distributed receding horizon control.

	==== Lecture Materials ====		== Lecture Materials ==
	* Lecture slides: {{eeci-sp08 pdf\|L10_coopctrl.pdf\|Cooperative Control}}		* Lecture slides: {{eeci-sp08 pdf\|L10_coopctrl.pdf\|Cooperative Control}}

	~~==== Additional Information ====~~		== Further Reading ==

	==== Further Reading ====
	* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.		* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.
	* R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, ''J. Guidance, Control and Dynamics'', 2007.		* R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, ''J. Guidance, Control and Dynamics'', 2007.
	* W. B. Dunbar and R. M. Murray, "Distributed receding horizon control for multi-vehicle formation stabilization". ''Automatica'', 42(4):549--558, 2006.		* W. B. Dunbar and R. M. Murray, "Distributed receding horizon control for multi-vehicle formation stabilization". ''Automatica'', 42(4):549--558, 2006.

Murray: /* Further Reading */

2008-03-29T00:55:53Z

Murray at 00:55, 29 March 2008

2008-03-29T00:55:43Z

← Older revision		Revision as of 00:55, 29 March 2008
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	{{righttoc}}		{{righttoc}}
	We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability.		In this lecture we introduce the problem of cooperative control of a multi-agent system. As an initial problem,
			we consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability. We also summarize recent extensions to this work using distributed receding horizon control.

	==== Lecture Materials ====		==== Lecture Materials ====
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	==== Further Reading ====		==== Further Reading ====
	* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.		* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.
			*
	* R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, ''J. Guidance, Control and Dynamics'', 2007.		* R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, ''J. Guidance, Control and Dynamics'', 2007.
			* W. B. Dunbar and R. M. Murray, "Distributed receding horizon control for multi-vehicle formation stabilization". ''Automatica'', 42(4):549--558, 2006.

Murray: /* Further Reading */

2008-03-29T00:51:31Z

Murray at 00:50, 29 March 2008

2008-03-29T00:50:50Z

← Older revision		Revision as of 00:50, 29 March 2008
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	{{righttoc}}		{{righttoc}}
			We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability.

	==== Lecture Materials ====		==== Lecture Materials ====
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	==== Further Reading ====		==== Further Reading ====
			* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.

Murray at 15:54, 28 March 2008

2008-03-28T15:54:09Z

← Older revision		Revision as of 15:54, 28 March 2008
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	{{righttoc}}		{{righttoc}}
	~~This lecture describes how to perform estimation and control in a distributed setting.~~

	~~{\| width=100% border=1~~
	~~\|- valign=top~~
	~~\| width=50% \|~~
	~~==== Outline ====~~
	~~<ol type="A">~~
	~~<li></li>~~
	~~</ol>~~
	~~\| width=50% \|~~

	==== Lecture Materials ====		==== Lecture Materials ====
	* Lecture slides: {{eeci-sp08 pdf ~~placeholder~~\|~~L7_pbc~~.pdf\|~~Distributed Estimation and Control}}~~		* Lecture slides: {{eeci-sp08 pdf\|L10_coopctrl.pdf\|Cooperative Control}}
	* Lecture notes: {{ncsbook\|fusion\|Chapter 6 - Distributed Estimation and Control}}

	==== Additional Information ====		==== Additional Information ====

	\|}

	==== Further Reading ====		==== Further Reading ====

Murray at 15:26, 28 March 2008

2008-03-28T15:26:40Z

New page

{{eeci-sp08 header|next=[[EECI: Distributed Protocols and CCL|Distributed Protocols]]|prev=[[EECI: Distributed Estimation and Control|Distributed Control]]}}

{{righttoc}}
This lecture describes how to perform estimation and control in a distributed setting.

{| width=100% border=1
|- valign=top
| width=50% |
==== Outline ====
<ol type="A">
<li></li>
</ol>
| width=50% |

==== Lecture Materials ====
* Lecture slides: {{eeci-sp08 pdf placeholder|L7_pbc.pdf|Distributed Estimation and Control}}
* Lecture notes: {{ncsbook|fusion|Chapter 6 - Distributed Estimation and Control}}

==== Additional Information ====

|}

==== Further Reading ====

← Older revision		Revision as of 01:06, 29 March 2008
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	== Further Reading ==		== Further Reading ==
	* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.		* <p>J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.</p>
	* R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, ''J. Guidance, Control and Dynamics'', 2007.		* <p>R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, ''J. Guidance, Control and Dynamics'', 2007.</p>
	* W. B. Dunbar and R. M. Murray, "Distributed receding horizon control for multi-vehicle formation stabilization". ''Automatica'', 42(4):549--558, 2006.		* <p>W. B. Dunbar and R. M. Murray, "Distributed receding horizon control for multi-vehicle formation stabilization". ''Automatica'', 42(4):549--558, 2006.</p>

← Older revision		Revision as of 00:51, 29 March 2008
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	==== Further Reading ====		==== Further Reading ====
	* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.		* J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", ''IEEE T. Automatic Control'', 49(9):1465-1476, 2004.
			* R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, ''J. Guidance, Control and Dynamics'', 2007.