ENGR 6121
Control of Multi-Agent Systems
Winter 2025
Topics
- Stability theory
- Nonlinear systems
- Lyapunov theory
- Spectral graph theory
- Voronoi diagrams
- Delaunay triangulations
- Cooperative control
- Formation control
- Coverage control
- Distributed estimation
- Cooperative localization
- Leader-follower networks
Readings
- M. Mesbahi and M. Egerstedt, Graph Theoretic Methods for Multiagent Networks, Princeton University Press, 2010.
- F. Bullo, J. Cortes and S. Martinez, Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms, Princeton University Press, 2009.
Sources
- Course catalogue ↗2026–2027
- Syllabus or course outline ↗Winter 2025
- Books are labelled reference texts; further readings are distributed in class or via the course website.