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学术报告——Multi-agent Formation Control and Visual Sensing with Insights from Biology

日期:2018-07-02 来源: 作者: 浏览:

报告题目:Multi-agent Formation Control and Visual Sensing with Insights from Biology

报告人:Bijoy K. GhoshIEEE FellowRegent ProfessorDepartment of Mathematics & StatisticsTexas Tech UniversityUSA





In this talk we present a problem of controlling a multi-agent formation of sensors that are navigating in space while keeping a prescribed shape. We assume that every agent is able to measure only the bearing angles generated from the neighboring agents. It is known that shape is preserved up to a scale factor provided that a suitable shape similarity matrix maintains its rank. For agents on a plane, we extend these results to optimal navigation, where the centroid of the agents move along a prescribed path while the overall formation maintains the rank condition. Additionally, we consider the problem of sensor pointing control, where each agent is assumed to be a visual sensor. The control problem is a constrained dynamics on the Orthogonal Space, and viewed as a nonlinear multi input multi output (MIMO) system. The attitude of every sensor is assumed to satisfy a Donders’ constraint, such as the ones proposed in Biology for the human monocular and binocular eyes. We pose the control problem on a square, nonlinear, dynamical system and show that this system is feedback linearizable on a suitable neighborhood N of the state space. We estimate a lower bound on the size of N by computing distance between the Donders’ and an associated Singularity Surface.


Prof. Bijoy K. Ghosh received the B. Tech and M. Tech degrees in Electrical and Electronics Engineering from BITS Pilani and the IIT, Kanpur, India, and the Ph.D. degree in Engineering Sciences from Harvard University, USA, in 1977, 1979 and 1983, respectively. From 1983 to 2007 Bijoy was with the Department of Electrical and Systems Engineering, Washington University, St. Louis, USA, where he was a Professor and Director of the Center for BioCybernetics and Intelligent Systems. Currently he is a Regent Professor of Mathematics and Statistics at Texas Tech University, Lubbock, USA. He received the Donald P. Eckmann award in 1988 from the American Automatic Control Council and the Japan Society for the Promotion of Sciences Invitation Fellowship in 1997. He became a Fellow of the IEEE in 2000, and a Fellow of the International Federation on Automatic Control in 2014. Bijoy had held visiting positions at Tokyo Institute of Technology, Osaka University and Tokyo Denki University, Japan, University of Padova in Italy, Royal Institute of Technology and Institut Mittag-Leffler, Stockholm, Sweden, Yale University, USA, Technical University of Munich, Germany, Chinese Academy of Sciences, Beijing, China and Indian Institute of Technology, Kharagpur, India. Bijoy's current research interest is in BioMechanics and Control Problems in Rehabilitation.





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