学术报告：Formation Control and Analysis of Multi-Robot Systems
报告题目: Formation Control and Analysis of Multi-Robot Systems
时间：2016年6月7日（周二）上午9：00 - 10：30
Peng Shi received the Bachelor degree of Mathematics from Harbin Institute of Technology; the Master degree of Systems Engineering from Harbin Engineering University; China, respectively; the PhD degree in Electrical Engineering from the University of Newcastle; and the PhD degree in Mathematics from the University of South Australia, Australia, respectively. He was awarded the Higher Doctorate degree, Doctor of Science by the University of Glamorgan, UK in 2006, and Doctor of Engineering by the University of Adelaide, Australia in 2015. He is now a professor, Chair in Systems and Control, in the University of Adelaide, Australia. He was a professor in Victoria University, Australia; the University of Glamorgan, UK; and a senior scientist in the Defence Science and Technology Organisation, Australia. He is a Fellow of IEEE, IET and IMA. He was the Chair of Control Aerospace and Electronic Systems Chapter, IEEE South Australia Section. Currently he serves as an IEEE Distinguished Lecturer; and a member of Australian Research Council, College of Expert. He has actively served in the editorial board of a number of journals, including Automatica; IEEE Transactions on Automatic Control; IEEE Transactions on Cybernetics; IEEE Transactions on Fuzzy Systems; IEEE Transactions on Circuits and Systems; and IEEE Access. His research interests include system and control theory, intelligent systems, and operational research. He has published widely in those areas. He has been recognised as a Highly Cited Researcher by ISI Thomson Reuters in both 2014 and 2015.
Multi-robot Systems has characteristics of cooperation and decentralization. The robots in such systems could be working in a large area, where the dynamics of the robots can be approximated by first order equations. In this talk, the formation control problem for a team of robots will be investigated. We will consider the sensors on the robots have limited ranges, that could be limited or none communication among the robots; and the objective formation could have variable scales or in an arbitrary shape. The team size is scalable in the way that new robots could join in, and existing ones could leave. The arbitrary shape implies heavy computation burden and vulnerability to disturbances. In any situation, robots have to work independently in an interactive and cooperative manner. Control and protocol design will be introduced and analysed, and examples will be given to demonstrate the effectiveness of the proposed techniques.