Optimization and Systems Theory Seminar
Thursday, June 27, 1999, 15.00-16.00, Room 3721, Lindstedtsvägen 25

Professor Shankar Sastry
University of California, Berkeley, CA

Algorithms for the design of distributed, multi-agent control systems

At Berkeley we have been interested in design schemes for network of complex networks of semi-autonomous agents. These networks are characterized by interaction between discrete decision making and continuous control. The control of such systems is often frequently organized in hierarchical fashion to obtain a logarithmic decrease in complexity associated with the design, We have used as examples three classes of systems to motivate the design approach: Over the last five years or so, a group of us have developed a set of design approaches which are aimed at designing control schemes which are live, deadlock free, and ``safe''. Our design methodology is to be considered an alternative to the verification based approaches to hybrid control systems design, and is an interesting blend of game theoretic ideas, fault handling in a probabilistic framework, mathematical and temporal logic and planning ideas from robotics. In these talks, we will focus on design problems involved in coordinating groups of Unmanned Aerial Vehicles (UAVs). Problems to be addressed include:

The work is joint with (in alphabetical order) Datta Godbole, Joao Hespanha, Hyoun Jin Kim, John Koo, John Lygeros, Omid Shakernia, David Shim, and Claire Tomlin.

Calendar of seminars
Last update: June 1, 1999 by Anders Forsgren, anders.forsgren@math.kth.se.