Containment Control in Mobile Networks
Speaker: Magnus B. Egerstedt , Georgia Institute of Technology
Date: October 12 2006
Time: 4:00PM to 5:00PM
Location: 32-D463 (Star)
Host: Daniela Rus, MIT-CSAIL
Contact: Mieke Moran, 617-253-5817, mieke@csail.mit.edu
Relevant URL: http://www.ece.gatech.edu/~magnusAbstract:
Arguably, the overarching scientific challenge facing the area of networked robot systems is that of going from local rules to global behaviors in a predefined and stable manner. In particular, issues stemming from the network topology imply that not only must the individual agents satisfy some performance constraints in terms of their geometry, but also in terms of the combinatorial description of the (dynamic) network. Moreover, a multi-agent robotic network is only useful inasmuch as the agents can be redeployed and reprogrammed with relative ease, and we address these two issues (local interactions and programmability) from a leader-based control point-of-view. In particular, the problem of driving a collection of mobile robots to a given target destination is studied in the context of partial difference equations. We are interested in achieving this transfer in an orderly manner so as to ensure that the agents remain in the convex polytope spanned by the leader-agents, while the remaining agents only employ local interaction rules. Generalizations are moreover given to multi-layer hierarchies where tradeoffs between performance and complexity can be formalized and studied in a natural manner.
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Magnus B. Egerstedt was born in Stockholm, Sweden, and is an Associate Professor in the School of Electrical and Computer Engineering at the Georgia Institute of Technology, where he has been on the faculty since 2001. He received the M.S. degree in Engineering Physics and the Ph.D. degree in Applied Mathematics from the Royal Institute of Technology, Stockholm, in 1996 and 2000 respectively. He also received a B.A. degree in Philosophy from Stockholm University in 1996. He spent 2000-2001 as a Postdoctoral Fellow at the Division of Engineering and Applied Science at Harvard University and during 1998 he was a Visiting Scholar at the Robotics Laboratory at the University of California, Berkeley. Dr. Egerstedt's research interests include optimal control as well as modeling and analysis of hybrid and discrete event systems, with emphasis on motion planning and control of (teams of) mobile robots, and he has authored over 100 papers in the areas of robotics and controls. He is the Chair of the Systems and Controls Technical Interest Group at the School of Electrical and Computer Engineering at Georgia Tech. Magnus Egerstedt is a Senior Member of the IEEE, he received the ECE/GT Outstanding Junior Faculty Member Award in 2005, and the CAREER award from the U.S. National Science Foundation in 2003.
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