"Cooperative Shape and Orientation Control of Autonomous Vehicle Formations"

Tyler Summers, PhD Student, University of Texas at Austin

December 2nd (Thursday), 10:30am
Building 406

A major theoretical question in the field of control theory, and the main focus of this work, is how the properties of the information architecture (i.e. a mapping of the information flow amongst the agents), relate to the stability properties of the desired shape and orientation under certain agent dynamics and control laws. As a motivating example, a solution to a coordinated standoff tracking problem is presented to demonstrate how an instance of a class of information architectures, which are called persistent and related to rigid graph theory, can be used to achieve a formation objective in a practical scenario involving a team of unmanned aircraft. Then, for a generalized formation shape control problem, stabilizability of a class of persistent architectures is shown. Finally, a rigid body attitude synchronization problem with communication time delays is solved for a class of information architectures based on spectral graph theory.

About Tyler Summers, PhD Student:

Tyler received a B.S in mechanical engineering from Texas Christian University in 2004, a M.S in aerospace engineering from the University of Texas at Austin in 2007, and has just finished a PhD in aerospace engineering with emphasis on systems and control theory from the University of Texas at Austin in 2010. From September 2007 to December 2008, he was a Fulbright scholar at the Australian National University under the supervision of Professor Brian D.O. Anderson. He has held multiple research internships at Sandia National Laboratories and Air Force Research Laboratories. His research interests broadly include applications of feedback control theory to complex networks of dynamical systems, such as autonomous vehicle formations, power networks, and biological genetic regulatory networks.

Hosted by: CCDC Students Seminar