State Estimation and Viability in Multiagent Decision and Control Systems

by

Professor Domitilla del Vecchio

University of Michigan

Department of Electrical Engineering

and Computer Science

Abstract --In this talk, we consider the problem of state estimation and viable control input design for systems characterized by both continuous and logic evolution. In particular, multi-agent systems are considered such as multi-robot systems or transportation systems. In these systems, the continuous variables represent physical quantities such as the position and velocity of a robot or vehicle, while discrete variables may represent the state of the logical system that is used for control and coordination. This work proposes a novel approach to state estimation using partial order theory that overcomes some of the severe complexity issues that arise in multi-agent systems. Within the same framework, we also show how to compute static output regulation maps that keep the system in a desired “safe'' region of the state space. A multi-robot example involving two teams competing against each other is proposed to illustrate the developed ideas.

Friday, November 11, 2005

3:30 – 4:30p.m.

Rm. 1500 EECS