PhD Seminar Course on

Graph-Based Control of Heterogeneous Robot Networks

Cagliari, Tuesday, July 15, 2008

Instructor: Prof. Magnus B. Egerstedt
Georgia Institute of Technology
Duration: 2 hours
Schedule: Tuesday, July 15, 2008, h16.00
Venue: Sala Riunioni, PAD. B
Topics: Arguably, the overarching scientific challenge facing the area of networked robot systems is that of going from local rules to global behaviors in a predefined and stable manner. In particular, issues stemming from the network topology imply that not only must the individual agents satisfy some performance constraints in terms of their geometry, but also in terms of the combinatorial description of the (dynamic) network. Moreover, a multi-agent robotic network is only useful inasmuch as the agents can be redeployed and reprogrammed with relative ease, and we address these two issues (local interactions and programmability) from a controllability point-of-view. In particular, the problem of driving a collection of mobile robots to a given target destination is studied, and sufficient conditions are given for this to be possible, based on novel tools from algebraic graph theory.
Organizer: Prof. Alessandro Giua
Dep. of Electrical and Electronic Engineering
University of Cagliari, Italy