seminar: Stabilization of Spatial Patterns for Coordinated Group Motion and Sensor Networks
speaker: Naomi Leonard (Princeton University)abstract: Coordinated motion control of multi-agent systems makes possible the design of mobile sensor networks to follow and sample features and to provide efficient sampling coverage of large areas with time-varying, spatially distributed fields. In this talk I will describe a framework and methodology, developed with collaborators, that provides systematic design of simply parameterized families of stable collective motion patterns that can be optimized for sampling. Results will be shown from our August 2006 field experiment of an autonomous ocean sampling network in Monterey Bay, California.
In our framework, individual agents are modeled as particles moving in 2D or 3D with steering driven by dynamics that generalize coupled oscillator dynamics. In the case of limited, time-varying and possibly directed communication among agents, consensus dynamics augment the design and individuals share estimates of average quantities. Motivated by recent observations of fish schools, we extend the model to individuals with oscillatory speed. We examine the connections between convergence of alternating spatial patterns and communication when sensing is range or direction limited.
timetable:
Fri 6 Apr, 9:00 - 9:30, Aula Dini
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