Summary: Come on over at 3:45 for some refreshments before the seminar.
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Prof. Brian AndersonProf. Brian AndersonProf. Brian AndersonProf. Brian Anderson
Australian National University
Date: Monday, September 29, 2008
Place: ESB 1001
Control and information architectures for formations
Formations of robots, underwater vehicles and autonomous airborne vehicles are progressively being deployed to tackle problems
of surveillance, bush fire control, and the like. Much formation behaviour mimics the behaviour of formations of living organisms,
such as birds and fish.
A number of prototypical problems will be considered, starting with rendezvous and consensus. The presentation will consider the
types of control, communications and sensing architecture that allow scalability for formations with many individual agents, and allow
preservation of the formation shape, as well as merging, splitting, or closing ranks in the event of loss of one or more agents. The
scalability requirement imposes a need for significant decentralization of information and control structures, and, just as in a forma-
tion of birds or fish, no one bird or fish can be expected to sense all other birds or fish and compute its own trajectory using even
partial knowledge of the trajectories of all other individual birds or fish, so the amount of sensing, communication and control compu-
tation by any one agent has to be limited.