Multi-Agent Systems
IMPORTANT MESSAGES:
- Zoom information (ID: 947 9934 3808; PW: mas2023; LINK:
https://omu-ac-jp.zoom.us/j/94799343808?pwd=SFlRcU9jSElkKzlpS28yWkFJZkhxQT09)
- Each week, slides and/or videos will be uploaded
Learning Objectives:
- Learn how to model multi-agent systems using graph theory;
- study fundamental multi-agent cooperative control problems;
- design distributed control algorithms and analyze their properties.
Instructor:
- Prof. Kai Cai (Engineering Building F-610)
- Email: cai@omu.ac.jp
- Office hour: anytime appointment by email
TA:
- Makoto Kimura (email: sh22252v@st.omu.ac.jp)
- Naoya Fujimoto (email: sh22229z@st.omu.ac.jp)
Lecture Schedule:
- Period: Sep. 2023 -- Jan. 2024
- Day and Time: Fridays 15:00-16:30
Textbook / Reference:
There is no Textbook. Lecture notes will cover all contents. Three references are:
- K. Cai and Z. Lin, "Directed Cooperation of Multi-Agent Systems", Kindle Direct Publishing, 2023. CaiLin_Book2023.pdf
- F. Bullo, "Lectures on Network Systems", 2022.
- S. Azuma, M. Nagahara, H. Ishii, N. Hayashi, K. Sakurama, and T. Hatanaka, "Control of Multi-Agent Systems", Systems Control Engineering Series Vol. 22, Corona Publishing Co., LTD, 2015 (in Japanese).
Software:
Matlab (download installation files below, with university campus license).
After installing the software, you also need to make a change according this document. To use Matlab outside of Campus, first connect to OMU VPN.
Grading:
Grading is based on two (2) projects and bonus homework assignments
- Project 1 (mid-term): 50%
- Project 2 (final): 50%
- Bonus homeworks: optional & max 20%
Prerequisites:
Linear Algebra, Introduction to Control Engineering, Linear Feedback Control
Course Outline:
Dates Topics
- 2023.09.29 Introduction, graphs
- 2023.10.06 Graph connectivity
- 2023.10.13 Matrices of graph
- 2023.10.20 Averaging problem
- 2023.10.27 Distributed averaging algorithm
- 2023.11.10 Reading week: project 1
- 2023.11.17 Analysis of averaging algorithm
- 2023.11.24 Matlab code tutorial 1
- 2023.12.01 Matlab code tutorial 2
- 2023.12.08 Distributed optimization problem
- 2023.12.15 Matlab code tutorial 3
- 2023.12.22 Consensus problem
- 2024.01.05 Distributed consensus algorithm
- 2024.01.19 Formation problem
- 2024.01.26 Distributed formation control algorithm
- 2024.02.02 Project 2