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Multi-Agent Systems General | Schedule/Handouts/Exercises |
Multi-Agent Systems: Course schedule, exercises, and handouts
Textbook: Graph Theoretic Methods in Multiagent Networks| Date | Content of lecture | Exercises | Handouts |
| 12.04.2012 | Introduction to MAS; Graph Theory |
Slides on Graph Theory | |
| 16.04.2012 | Algebraic Graph Theory; Linear Consensus |
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| 19.04.2012 | Linear Consensus (cont.); directed graphs, switching graphs |
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| 23.04.2012 | Exercises | Homework 1 | |
| 26.04.2012 | Non-Linear Consensus-Kuramoto model; Formation stabilization |
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| 30.04.2012 | Networks as Systems; Controllability |
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| 03.05.2012 | Networks as Systems; Edge Agreement |
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| 07.05.2012 | Exercises | Homework 2 | |
| 07.05.2012 | Synthesis of Networks convex and integer optimization; RSN topology design |
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| 07.05.2012 | Synthesis of Networks Consensus Topology Design |
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| 10.05.2012 | Synthesis of Networks Maximizing connectivity with state dependent graphs |
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| 14.05.2012 | TBD |
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| 17.05.2012 | Holiday | ||
| 21.05.2012 | Formation Rigidity | ||
| 24.05.2012 | Introduction to Passivity theory | ||
| 28.05.2012 | Holiday | ||
| 31.05.2012 | Holiday | ||
| 04.06.2012 | Introduction to Passivity theory | ||
| 07.06.2012 | Holiday | ||
| 11.06.2012 | Passivity theory cont.; Port-Hamiltonian Systems: Modeling |
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| 14.06.2012 | Port Hamiltonian Systems: Modeling (cont.) | ||
| 18.06.2012 | Port Hamiltonian Systems: Control | ||
| 21.06.2012 | Port Hamiltonian Systems: Control (cont.) | ||
| 24.06.2012 | Applications: formation control of multiple UAVs general formulation |
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| 28.06.2012 | Applications: formation control of multiple UAVs modeling and control |
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| 02.07.2012 | TBD | ||
| 05.07.2012 | TBD | ||
| 09.07.2012 | TBD | ||
| 12.07.2012 | TBD | ||
| 16.07.2012 | TBD | ||
| 19.07.2012 | TBD |
Final Project
Project Guidelines
Resources
Matlab Tools:
Suggested readings
Books:
- Algebraic Graph Theory
- Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications
- Distributed Algorithms for Robotic Networks
- The Structure and Dynamics of Networks
- Constructive Nonlinear Control
- L2-Gain and Passivity Techniques in Nonlinear Control
- Control of Interactive Robotic Interface: A Port-Hamiltonian Approach
Other material:
Consensus
- A. Jadbabaie, J. Lin, and A. Morse, Coordination of groups of mobile agents using nearest neighbor rules.
- A. Jadbabaie, N. Motee, and M. Barahona, On the stability of the Kuramoto model of coupled nonlinear oscillators.
- Y. Hatano and M. Mesbahi, Agreement over Random Networks.
- L. Xiao, S. Boyd, and S. Kim, Distributed average consensus with least-mean-square deviation.
Networks as Systems
- R. Olfati-Saber, J. Fax, and R. Murray, Consensus and cooperation in networked multi-agent systems.
- A. Rahmani, M. Ji, and M. Mesbahi, Controllability of multiagent systems from a graph-theoretic perspective.
- D. Zelazo and M. Mesbahi, Edge agreement: Graph-theoretic performance bounds and passivity.
Port-Hamiltonian Systems
- Port-Hamiltonian systems: an introductory survey
- Port-Hamiltonian Systems: From Geometric Network Modeling to Control. Part I
- Port-Hamiltonian Systems: From Geometric Network Modeling to Control. Part II
- Port-Hamiltonian Systems: From Geometric Network Modeling to Control. Part III
- Dirac structures and port-Hamiltonian systems. Interconnection and model order reduction
Universität Stuttgart
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