Advanced Multi-Robot Systems

4 credits · College of Engineering catalogue

Advisory Prerequisite: ROB 501 and ROB 514. Enforced Prerequisite: Graduate standing. C redit Exclusions: Student may only receive credit for one course , ROB 416 and ROB 516. (4 credits) Designed for graduate students in robotics and control, this course provides an advanced exploration of multi-robot systems through in-depth theoretical modeling, analysis and synthesis of techniques from control, optimization and graph theory. Topics: Taxonomies and Architectures of Multi-Robot Systems; Graph-theoretic Models of Multi-Robot Networks; Agreement and Formation Control; Task Assignment and Motion Planning; Distributed Estimation; Distributed Optimization; Target Tracking and Localization; Elements of Lyapunov Theory and Control Barrier Functions; Resilient Network Control and Estimation; Multi-Agent Reinforcement Learning; Coverage and Exploration.