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VERSION:2.0
PRODID:-//University of Liverpool Computer Science Seminar System//v2//EN
BEGIN:VEVENT
DTSTAMP:20260922T101449Z
UID:Seminar-robotics-1049@lxserverM.csc.liv.ac.uk
ORGANIZER:CN=Matt webster:MAILTO:M.Webster@liverpool.ac.uk
DTSTART:20230518T130000
DTEND:20230518T140000
SUMMARY:Robotics and Autonomous Systems Series
DESCRIPTION:Yi Dong: Decentralised and Cooperative Control of Multi-Robot Systems through Distributed Optimisation\n\nMulti-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear dynamics. The algorithm is based on distributed cooperative optimisation and output regulation, and it achieves global optimum by utilising only information shared among neighbouring robots. Technically,  a high-level distributed optimisation algorithm for multi-robot systems is presented, which will serve as an optimal reference generator for each individual agent. Then, based on the distributed optimisation algorithm, an output regulation method is utilised to solve the optimal coordination problem for general linear dynamic systems. The convergence of the proposed algorithm is theoretically proved. Both numerical simulations and real-time physical robot experiments are conducted to validate the effectiveness of the proposed cooperative control algorithms.\n\nhttps://www.csc.liv.ac.uk/research/seminars/abstract.php?id=1049
LOCATION:Meeting Room 208 Ashton Building 2nd Floor
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