Harnessing Control Techniques for Seamless Multi-Agent Coordination

Join Rajeev Voleti for a webinar exploring a novel solution for optimal multi-vehicle rendezvous, focusing on the seamless docking of a quadrotor with multiple ground vehicles. Leveraging ModelingToolkit-based AerialVehicles.jl model libraries, JuliaSimControl, and InfiniteOpt, this webinar demonstrates a collocation-based approach to optimize control efforts, ensuring efficient cooperation between ground vehicles and a landing quadrotor.

Key topics covered:

• Challenges in Multi-Vehicle Rendezvous: An overview of the complexities in coordinating the docking of multiple vehicles, setting the stage for the proposed solution.
• Our two-stage approach for optimal coordination —initial optimal control generation followed by real-time trajectory refinement using a consensus protocol based on shared time-to-go estimates.
• Consensus Protocol and Trajectory Refinement: A deep dive into the adaptation process where ground vehicles align their time-to-go with the approaching quadrotor, ensuring optimal convergence.
• Simulation Demonstrations: Numerical simulations showcasing the method
• Practical Applications: Exploration of the solution’s potential in fields like autonomous transport, logistics, emergency response, and military operations.
  

This presentation will provide attendees with valuable insights into the latest advancements in autonomous systems, optimal control, and consensus protocols, offering a new perspective on the complexities and potentials in multi-vehicle coordination.