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Cooperative Multi-agent circumnavigation of Algal blooms

创建时间:  2019-10-21  王智渊    浏览次数:


报告时间:2019年10月22号10:00-11:00

报告地点:宝山校区机自大楼(9号楼)702B 会议室


报告题目:Cooperative Multi-agent circumnavigation of Algal blooms


报告人: Joana Fonseca

Bio: Joana Fonseca was born in Porto, Portugal and received a Bachelor in Electrical Engineering and Computer Science from the University of Porto, Portugal in June 2015. She then received her Master in Automatic Control from a joint program with TUDelft, Netherlands and the University of Porto in July 2017. Since then she has being working as a PhD candidate at KTH Royal Institute of Technology in Stockholm, Sweden. The focus of her research has been multi-agent systems, formation control and estimation.


Abstract: In this seminar we will present recent work on multi-agent formation control for target tracking. The target is the harmful algal blooms that occur worldwide including in the Norwegian and Baltic seas. This target is an irregular dynamic shape which may be smaller and close to a moving circle or larger and interpreted as a moving front. Using a multi-agent system paired with a satellite, we wish to constantly collect and cross local and global information to estimate the position of the target along time. We develop different protocols to approach this problem. For the case of smaller circular targets we developed two algorithms with formation control and circumnavigation: one using adaptive estimation and one using optimization. The case of larger targets in currently under study. The control protocols are designed for all agents and the convergence to the desired state is proven. We will provide simulated examples to verify the performance of the control protocols designed.




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