Loose Formation Control in Multi-Agent Systems

Abstract

The problem of having a robotic formation of drones or other vehicles perform some task in a formation has been addressed considering different types of formation control. On the one hand, establishing fixed formation structures in a possibility that may come with a communication cost. In this presentation, it is shown two different approaches that define a loose formation structure that has self-healing properties and can be implemented in a decentralized way.

Speaker

Daniel Silvestre

Dr. Daniel Silvestre received his B.Sc. in Computer Networks in 2008 from the Instituto Superior Técnico (IST), Lisbon, Portugal, and an M.Sc. in Advanced Computing in 2009 from the Imperial College London, London, United Kingdom. In 2017, Dr. Silvestre got his Ph.D. (with the highest honors) in Electrical and Computer Engineering from the former university, and during this period he spent three months visiting his co-supervisor (Joao Hespanha) at University of California at Santa Barbara. Currently, Dr. Silvestre is an Assistant Professor at Lusófona and COPELABS since 2021, and is also with the Institute for Systems and Robotics, at the Instituto Superior Técnico in Lisbon (PT). His research interests span the fields of fault detection and isolation, distributed systems, network control systems, computer networks, model predictive control, stochastic filters and randomized algorithms.