Title: ME Seminar by Dr. Aykut Cihan Satici...
Speaker: Dr. Aykut Cihan Satici
Date/Time: 7th January-Wednesday-at 13:40
Place: FENS L063
Abstract: The preservation of connectivity in mobile robot networks is critical to the success of most existing algorithms designed to achieve various goals. The most basic method to preserve connectivity is to have each agent preserve its set of neighbors for all time. More advanced methods preserve a (minimum) spanning tree in the network. These methods typically result in a monotonic increase in connectivity until the network is completely connected. We propose a decentralized continuous connectivity preserving feedback control method which allows the connectivity to decrease, that is, edges in the network may be broken. Moreover, we exploit symmetry properties of multi-agent robot systems to design control laws that preserve connectivity while swarming the multi-agent system. We start by showing that the connectivity controller is invariant under the action of the special Euclidean group SE(3) and therefore is amenable to reduction of the dynamics by this action. We then utilize the Lagrange-Poincare equations that split the Euler-Lagrange equations for the multi-agent system into horizontal and vertical parts. We then use the resulting vertical equations of motion to design a control law that asymptotically stabilizes the centroid and the orientation of the swarm at a desired pose.
Bio: Aykut Cihan Satici received BSc. and MSc. degrees in Mechatronics Engineering from Sabanci University, Istanbul, Turkey, in 2008 and 2010, respectively. He received another MSc. degree in mathematics and a PhD degree in Electrical Engineering from University of Texas at Dallas in 2013 and 2014, respectively. His research interests include dynamics, robotics, geometric mechanics and control, and cooperative control. He is currently working in the Mathworks, Inc., where he is helping develop the Robotics Systems Toolbox which aims to integrate the Robot Operating System (ROS) with MATLAB.