Engineered dynamic systems (robots, computers, trained humans) interact regularly to perform complex tasks ranging from flying aircrafts to inventory management in a warehouse. We hypothesise laws of such interactions for specific objectives. Then we build several hardware platforms and perform varied experiments to validate these laws. Convergence, stability and performance properties of the laws learnt are theoretically proven. The characteristics of specific hardware interfaces for system-system interaction are also studied. In the first part of the talk we present the various hardware platforms developed and a selection of the experimental results. In the second part, we present some of the hypothesised laws: Feedback control of interacting multi-agent systems for performing time critical manoeuvres such as minimum time consensus tracking and pursuit evasion. For double integrators and coupled single integrators, we show that min-max time optimal consensus tracking can be achieved through locally optimal feedback control laws. For Dubins vehicles we propose a feedback law for time optimal pursuit evasion.
Debraj Chakraborty received his BE in Electrical Engineering from Jadavpur University, Kolkata, India in 2001, MTech in Electrical Engineering from IIT Kanpur, Kanpur, India in 2003 and PhD in Electrical and Computer Engineering from University of Florida Gainesville, USA in 2007 respectively. Thereafter he joined the Department of Electrical Engineering, Indian Institute of Technology Bombay where he is currently an Associate Professor. His research interests include optimal control, multi agent systems and control applications.