Additional Info

• ECTS credits: 6
• University: University of L'Aquila
• Semester: 3
• Lecturer 1: Giordano Pola
• Objectives:

   

  The aim of this course is to provide basic knowledge of the analysis and design of dynamic multiagent networks

• Topics:

   

   

  • Introduction to graph theory: graphs; matrices representation; algebraic and spectral graph theory; graph symmetries.
  • The agreement protocol - the static case: undirected and directed networks; agreement and markov chains; the Factorization Lemma.
  • The agreement protocol - Lyapunov and LaSalle: agreement via Lyapunov functions, agreement over switching digraphs, edge agreement, generalizations to nonlinear systems.
  • Formation Control: formation specification-shapes and relative states; shape based control; relative state based control, dynamic formation selection, assigning roles.
  • Mobile Robots: Cooperative robotics; weighted graph based feedback; dynamic graphs; formation control revisited; the coverage problem.

   

• Prerequisites:

   

  Linear Algebra. Linear control systems. Stability theory for linear control systems

• Books:

   

  M. Mesbahi and M. Egerstedt, Graph Theoretic Methods in Multiagent Networks. Princeton University Press. 2010

• Teaching material 1: http://press.princeton.edu/titles/9230.html