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Coordination and collision avoidance for networked Lagrangian systems

Multi-agent systems have recently gained great attention due to the demand for simple, dispensable and cost-efficient systems that can perform large-scale tasks such as area surveillance, search and rescue, environmental sampling, automated remote construction and handling hazardous materials, to name a few. In this talk we study the problem of position coordination and collision avoidance for multiple Lagrangian systems that are operating under communication unreliabilities, such as time delays and limited data rates. We show that under a mild connectivity condition among the agents it is possible to design control laws that render the overall system input-to-state stable (ISS). This ISS property of the closed-loop system can be exploited to handle the effect of unreliabilities and disturbances. Moreover, we show that it is possible to design, within the same framework, control laws that guarantee collision-free maneuvers of the agents. The applicability of the results is illustrated through several examples.

Type of Seminar:
IfA Seminar
Peter Hokayem
Lehrstuhl für Technische Informatik, Universität Würzburg, Germany
Jun 26, 2008   17.15

ETZ E6, Gloriastrasse 35, Zurich
Contact Person:

Manfred Morari, John Lygeros
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Biographical Sketch:
Peter Hokayem received his B.E. degree in Computer and Communications Engineering from the American University of Beirut in 2001, his M.S. degree in Electrical Engineering from the University of New Mexico in 2003, and his Ph.D. degree in Electrical and Computer Engineering from the University of Illinois at Urbana-Champaign in 2007. He is currently a Postdoctoral Researcher in the Faculty of Mathematics and Computer Science at the University of Würzburg. His research interests are in the areas of networked control systems, multi-agent systems, teleoperated robotic systems, and nonlinear control theory.