Cooperative Control of Multi-Vehicle Systems

Richard Murray
California Institute of Technology
Control and Dynamical Systems

Increases in fast and inexpensive wireless communications have enabled a new
generation of robotic applications in which a collection of vehicles perform
a cooperative task in dynamic, uncertain, and even adversarial environments.
While conventional control theory is well suited to design control laws for
the individual vehicles, the tools for designing the interconnected control
laws required for the complex tasks required in applications is considerably
less well developed. In this talk I will describe three sets of results
that make inroads into this class of problems: formation stability using
graph Laplacians, distributed optimization for cooperative control, and
packet-based estimation and control theory.

Presentation (PowerPoint File)

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