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SUMMARY:Talk of Prof. Daniel Zelazo
DESCRIPTION:Prof. Daniel Zelazo\nFaculty of Aerospace Engineering \nThe Technion-Israel Institute of Technology\nHaifa, Israel  \nTuesday 2023-08-15 4 p.m.\nIST Seminar Room 2.255 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen  \nAbstract\nFormation control is one of the cornerstone problems in the multi-agent coordination community.\nThe main task is to design distributed strategies for each agent such that the entire ensemble\narranges into some desired spatial configuration. Gradient-based control strategies for solving the\nformation control problem are appealing because they lead to distributed protocols. More\ninteresting is the connection between the potential functions used to define the control laws, and\nthe combinatorial theory of rigidity. Rigidity theory studies the properties of structures and\ntheir resistance to deformation while maintaining shape and connectivity under specific conditions.\nA result of this connection identifies that for a network of n agents, at least 2n-3 communication\nlinks are required to solve the formation control problem. In this talk we explore solutions that\ncan drastically reduce this number. Our approach leverages additional constraints that force the\nformation to a symmetric configuration. Utilizing recent results from rigidity theory for symmetric\nframeworks, we design a gradient-based control strategy that simultaneously drives the agents to\nthe desired inter-agent distances and also a special position characterizing additional symmetry\nconstraints on the graph. We propose also a variation of the formation control problem where the\nagents can perform symmetry-preserving coordinated motions.   \nBiographical Information\nDaniel Zelazo is an associate professor of aerospace engineering and director of the\nPhiladelphia Flight Control Laboratory at the Technion-Israel Institute of Technology, Haifa. He\nreceived the B.Sc. and M.Eng. degrees in electrical engineering and computer science from the\nMassachusetts Institute of Technology, Cambridge, in 1999 and 2001, respectively. In 2009, he\ncompleted his Ph.D. degree at the University of Washington, Seattle, in aeronautics and\nastronautics. From 2010 to 2012, he was a postdoctoral research associate and lecturer at the\nInstitute for Systems Theory and Automatic Control, University of Stuttgart, Germany. He is\ncurrently subject editor for the International Journal of Robust and Nonlinear Control and has\nserved as an associate editor of IEEE Control Systems Letters. His research interests include\ntopics related to multi-agent systems, graph theory, and control systems. 
DTSTART;TZID=Europe/Berlin;VALUE=DATE:20230815
URL;VALUE=URI:https://www.ist.uni-stuttgart.de/events/Talk-of-Prof.-Daniel-Zelazo/
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