Distributed sensing and control of multi-agent systems

This research project is about developing distributed sensing and control algorithms for multi-agent systems, which is often called robotic swarms. The project investigates distributed control algorithms to achieve autonomous cooperative behaviour on multi-agent systems such as rendezvous, coverage and formation. The collected information from the distributed multi-agent system can be used to estimate the location and other properties of the signal source, e.g. oil spill over the sea surface and radioactive contamination in a nuclear plant. Developed algorithms are then validated on physical platforms such as a team of autonomous drones and a group of ground robots.

Publications

• Scalar Field Estimation with Mobile Sensor Networks
• A Micro-scopic Model for Lane-Less Traffic
• Outdoor cooperative flight using decentralized consensus algorithm and a guaranteed real-time communication protocol
• Min-max time consensus tracking on a multi-quadrotor testbed
• Decentralized and Adaptive Control of Multiple Nonholonomic Robots for Sensing Coverage