FEL3330 Networked and Multi-Agent Control Systems 7.5 credits

Introduction, Motivation, Applications, Graph Theory, Lyapunov Functions, Logistics, etc.

Consensus: static, dynamic, distributed estimation, leader-follower architectures for consensus

Communication Constraints: connectivity, connectivity maintainance, sampling, delays, packet losses, quantization, security

Dynamics: nonholonomic, double integrator, rigid body dynamics

Formation Control: distance based formations, rigidity, persistence, position based formations, formation infeasibility

Swarming-sensor networks: sensing constraints, aggregation, dispersion, coverage control, deployment, flocking

Game theoretic approach

Collision avoidance: potential fields, navigation functions

At the research frontier

After the course, the student should be able to:

·       know the essential theoretical tools to cope with Networked and Multi-Agent Systems

·       know the established problems and results in the area

·       develop a research project and give presentations in the area

·       contribute to the research frontier in the area

• EXA1 - Examination, 7.5 credits, grading scale: P, F

Based on recommendation from KTH’s coordinator for disabilities, the examiner will decide how to adapt an examination for students with documented disability.

The examiner may apply another examination format when re-examining individual students.

If the course is discontinued, students may request to be examined during the following two academic years.

Passing Grade on homeworks, presentation and exam.

Dimos Dimarogonas

• All members of a group are responsible for the group's work.
• In any assessment, every student shall honestly disclose any help received and sources used.
• In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.