UTD Geometry, Topology and Dynamics Seminar (2014)
Electrical Engineering, University of Texas at Dallas
Swarming with Connectivity via Lagrange-Poincare Equations
One of the important goals of a multi-agent mobile network is coverage or surveillance of a given
area. This requires the agents to swarm or move in formation along a desired path/trajectory.
In other words, it is desired that the centroid of the formation move along a specified desired
trajectory. In addition when avoiding contact with the environment is an issue, we may also want
to specify a desired orientation trajectory of the multi-agent system.
While the swarming operation is under way, it is still desired to achieve and maintain a desired
connectivity measure whenever information sharing between agents in the network is required.
In this work, we propose a framework which nearly decouples the control design for these two
potentially conflicting goals by exploiting the inherent symmetries of mechanical systems.
University of Texas at Dallas
A perturbation approach to study the dynamics of nonlinear differential equations, II
Some interesting examples will be presented