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GRASP Student Seminar Series: Spring 2006
April 26, 5:00 PM, 307 Levine Hall
Nima
Moshtagh
"Distributed Attitude Control and Vision-based
Velocity Alignment in Multi-agent Systems"
Abstract: We study the problem of distributed attitude control of a group of kinematic agents moving in the 3-dimensional space. The attitude of each agent is represented by a unit quaternion and the resulting control input for attitude alignment is used for designing a distributed, coordinate-free control law for velocity alignment in a multi-agent system.
The problem of vision-based flocking and coordination
of a group of kinematic agents in 2 and 3 dimensions is also studied.
It is shown that in the absence of communication among agents, and by
using only visual information, a group of mobile agents can align their
velocity vectors and move in a formation. The coordinate-free control
law developed earlier is used to develop a vision-based input for each
nonholonomic agent. The vision-based input does not rely on heading
measurements, but only requires measurements of bearing, optical flow
and time-to-collision, all of which can be efficiently measured.
Biography: Nima Moshtagh is a Ph.D. student in Penn's Department of Electrical and Systems Engineering. His area of interest is formation control of mobile robots and UAVs.
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