报告人：英国谢菲尔德大学 赵世钰博士
时间：4月12日下午14:00-15:00
地点：二教南楼228会议室
报告内容：A multi-agent formation control task usually consists of two subtasks. The first is to steer the agents to form a desired geometric pattern and the second is to achieve desired collective maneuvers so that the centroid, orientation, scale, and other geometric parameters of the formation can be changed continuously. In this talk, I will present a novel approach to achieve the two subtasks simultaneously. This approach relies on stress matrices, which can be viewed as generalized graph Laplacian matrices with both positive and negative edge weights. The novelty of the proposed control approach is that it can track a target formation that is a time-varying affine transformation of a nominal configuration. As a result, the centroid, orientation, scales in different directions, and even geometric pattern of the formation can all be changed continuously. The desired formation maneuvers are only known by a small number of agents called leaders, and the rest agents called followers only need to follow the leaders.
赵世钰博士简介：Shiyu Zhao is currently a Lecturer in the Department of Automatic Control and Systems Engineering at the University of Sheffield, UK. He received the BEng and MEng degrees from Beijing University of Aeronautics and Astronautics, China, in 2006 and 2009, respectively. He got the PhD degree in Electrical Engineering from National University of Singapore in 2014. From 2014 to 2016, he served as post-doctoral researchers at the Technion - Israel Institute of Technology and University of California at Riverside, respectively. He is a corecipient of the Best Paper Award (Guan Zhao-Zhi Award) in the 33rd Chinese Control Conference, Nanjing, China, in 2014. His research interests include control and estimation of networked dynamical systems and its application to intelligent and robotic systems.