University of Pennsylvania
Control of Multi-robot Systems
This talk will address cooperative control of networked robots equipped with cameras. We will first show how decentralized control policies can be used to achieve desired formations while maintaining constraints arising from communication and sensing. We will derive measures of performance for the networked system and show how the formation can be adapted to maximize performance. These results will be illustrated with our experimental testbed of mobile robots. Time permitting, we will address ongoing work on modeling and controlling biomolecular networks and discuss some similarities with the multirobot control problem.