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:

  1. K. Cai and Z. Lin, "Directed Cooperation of Multi-Agent Systems", Kindle Direct Publishing, 2023. CaiLin_Book2023.pdf
  2. F. Bullo, "Lectures on Network Systems", 2022.
  3. 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
  1. 2023.09.29 Introduction, graphs
  2. 2023.10.06 Graph connectivity
  3. 2023.10.13 Matrices of graph
  4. 2023.10.20 Averaging problem
  5. 2023.10.27 Distributed averaging algorithm
  6. 2023.11.10 Reading week: project 1
  7. 2023.11.17 Analysis of averaging algorithm
  8. 2023.11.24 Matlab code tutorial 1
  9. 2023.12.01 Matlab code tutorial 2
  10. 2023.12.08 Distributed optimization problem
  11. 2023.12.15 Matlab code tutorial 3
  12. 2023.12.22 Consensus problem
  13. 2024.01.05 Distributed consensus algorithm
  14. 2024.01.19 Formation problem
  15. 2024.01.26 Distributed formation control algorithm
  16. 2024.02.02 Project 2