Dynamic Task-Based Coordination of Vehicle Networks

Emilio Frazzoli

In this talk, we will address a class of problems requiring
coordination of a number of mobile agents through a wireless
communication network, in order to achieve dynamically-changing tasks
over a region of interest. The agents are subject to differential
and algebraic constraints on their motion including, for example, non-
holonomic dynamics and collision avoidance constraints. Tasks are
generated over time by an external source, modeled either as a
stochastic or adversarial process. We will present scalable
algorithms providing a guaranteed approximation to optimal
performance for several cases of interest. Moreover, we will discuss
some of the implications of our results to a biological setting,
including, for example, foraging strategies and territorial behavior.

Audio (MP3 File, Podcast Ready) Presentation (PDF File)

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