Doktorandkurs/graduate course worth 7.5 högskolepoäng (ECTS)

Fall 2007

School of Electrical Engineering, KTH.

Basics | Syllabus | Assignments | Handouts | Suggested Reading

E-mail: magnus[at]ece[dot]gatech[dot]edu

Phone: 08 790 6205

Office: CVAP/CAS, Teknikringen 14, Floor 7, Room 714

There will be around five sets of homework (50% of the grade) in combination with a take-home exam (50% of the grade).

Due October 5, 2007.

The Matlab files you will need to solve this homework are:

swarm.m

load_network.m

show_graph.m

disk.m

Due October 19, 2007.

The new Matlab files (together with the old ones for HW1) you will need to solve this homework are:

formation.m

get_goal_value.m

get_obstacle.m

show_robots.m

Due November 9, 2007.

The new Matlab files (together with the old ones) you will need to solve this homework are:

dolphins.m

dolph_ajd.m

circle_error.m

show_dolph.m

You will also need to read the DARPA LANDroids Call For Proposals.

- Read the first four pages of S. Martinez, J. Cortes, and F. Bullo. Motion Coordination with Distributed Information.

- Read chapters 1 and 8 in

- Check out Dan Spielman's excellent MIT lecture notes on spectral graph theory and Cheeger's inequality at http://www-math.mit.edu/~spielman/eigs/lect1.pdf.

- Read the survey paper R. Olfati-Saber and R. M. Murray. "Consensus Problems in Networks of Agents with Switching Topology and Time-Delays," IEEE Trans. on Automatic Control, vol. 49(9), pp. 1520-1533, Sep., 2004. Available at http://thayer.dartmouth.edu/~Reza_Olfati_Saber/papers/tac04_ros_rmm.pdf.

- Read the first couple of pages in T. Eren, P. Belhumer, B.D.O. Anderson, and S. Morse. A framework for maintaining formations based on rigidity. Proceedings of 15th IFAC World Congress on Automatic Control, Barcelona, Spain, July 2002. Available here.