Andrea Carron

ETH Zürich

Tuesday, April 01, 2025, 11:00 - 12:30

SR 01-012

Abstract

Designing an effective control strategy becomes inherently challenging when multiple agents collaborate, particularly with communication network limitations. Agents may violate shared constraints without careful design or fail to achieve a common goal. In this talk, I will present three multi-agent control problems where the control objective and communication constraints must be carefully considered: coverage control, connectivity maintenance, and collision avoidance. Interestingly, in the last problem, a simple tree structure emerges in the proposed control formulation. In the last part of the talk, I will show two other examples of control problems where such a tree structure appears and discuss the benefits of a tailored nonlinear optimization method.