Course Details for A.Y. 2013/2014

Course Objectives

The aim of this course is to provide basic knowledge of the analysis and design of dynamic multiagent networks. 

Course Content

• Introduction to graph theory: graphs; matrices representation; algebraic and spectral graph theory; graph symmetries.
• The agreement protocol - the static case: undirected and directed networks; agreement and markov chains; the Factorization Lemma.
• The agreement protocol - Lyapunov and LaSalle: agreement via Lyapunov functions, agreement over switching digraphs, edge agreement, generalizations to nonlinear systems.
• Formation Control: formation specification-shapes and relative states; shape based control; relative state based control, dynamic formation selection, assigning roles.
• Mobile Robots: Cooperative robotics; weighted graph based feedback; dynamic graphs; formation control revisited; the coverage problem.

Prerequisites and Learning Activities

Linear Algebra. Linear control systems. Stability theory for linear control systems.

Assessment Methods and Criteria

Written and oral exam

Textbooks

• M. Mesbahi and M. Egerstedt, Graph Theoretic Methods in Multiagent Networks , Princeton University Press. 2010. http://press.princeton.edu/titles/9230.html   

Course page updates

• A.Y. 2013/2014
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• A.Y. 2015/2016
• A.Y. 2016/2017
• A.Y. 2017/2018
• A.Y. 2018/2019