1. Graphs and Matrices:
a. properties of the Laplacian matrix
b. graph connectivity
c. Non-negative matrices
d. Perron Frobenius Theory
2. Cooperative Control of Multi-agent systems:
a. Coordination, Consensus algorithms
b. Formation Control, Flocking.
c. Connectivity Preserving distributed control
d. H-2/H-infty performance of
Consensus Protocols
e. Rigid formation and Bearing only formations
f. Gossip Algorithms, Opinion Dynamics
g. Multi-player pursuit evasion games
3. Inference over Graphs:
a. Partial Coherence Graphs
b. Granger Causality
c. Bayesian Networks
1.
R. B. Bapat,
Graphs and Matrices, TRIM Series, Hindustan Book Agency, 2011
2.
Bapat and
Raghavan, Non-Negative Matrices, Cambridge
University Press, 1997
3.
Carl D Meyer,
Matrix Analysis and Applied Linear Algebra, SIAM, 2001
4.
Wei Ren, Randal W.
Beard, Distributed Consensus in Multi-vehicle Cooperative Control,
Communications and Control Engineering Series, Springer-Verlag, London, 2008
5.
Jeff S. Shamma Editor, Cooperative Control of Distributed
Multi-Agent Systems, John Wiley and Sons, West Sussex, England, 2007.
6.
Frank Lewis, H.
Zhang, K. Hengster-Movric, A. Das, Cooperative
Control of Multi-Agent Systems: Optimal and Adaptive Design Approaches,
Springer-verlag, London 2014
7. Z. Li and Z. Duan,
Cooperative Control of Multi-Agent Systems: A Consensus Region Approach, CRC
Press, 2015.
Mid-Sem
20% + End-Sem 30% + Assignments 20% + Term Project
30%
3.
Laplacian
5.
Consensus
1.
Part 1
2.
Part 2
3.
Part 3
4.
Part 4
1.
Lecture 1: Graphs and Matrices
2.
Lecture 2: Consensus in Multi-Agent Systems: Part 1 :
References: paper1, paper2
3.
Lecture 3: Consensus in Multi-Agent Systems: Part 2:
References: paper 1, paper 2,
paper 3, paper4
4.
Lecture 4: Consensus Tracking: book chapter
5.
Lecture 5: Maintaining Connectivity
+ Non-holonomic agents: notes
6.
Lecture 6: Structured Systems
7.
Lecture 7: Connective Stability
8.
Deepak’s Lectures: First, Second