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SUMMARY:Multi-agent control under coupled spatio-temporal objectives with 
 performance and feasibility guarantees
DTSTART:20260925T110000
DTEND:20260925T120000
DTSTAMP:20260920T014410Z
UID:16c238bc8c6796e04e74beebf2a51d96f02698d1ea58bcfc8920a0bc
CATEGORIES:Conferences - Seminars
DESCRIPTION:Dr Maria Charitidiou\, Division of Decision and Control Syste
 ms at KTH and the Institute for Systems Research at the University of Mary
 land\, College Park\, USA\nAbstract: \nOver the years multi-agent systems 
 have been involved in various applications in air\, ground\, sea and space
  offering increased performance and robustness compared to their single-ag
 ent counterpart. Nevertheless\, designing performance-optimal control laws
  for teams of autonomous agents remains challenging especially when consid
 ering their limited communication\, sensing and actuation capabilities. In
  this talk\, we will consider spatio-temporally constrained tasks expresse
 d in a formal specification language called Signal Temporal Logic (STL). F
 irst a centralized model predictive controller (MPC) is presented ensuring
  the satisfaction of the STL tasks\, when possible or their minimal violat
 ion in presence of conflicting constraints. The proposed MPC problem accou
 nts for the limited actuation capabilities of the agents\, is integer-free
  and can be shown to be recursively feasible under appropriately designed 
 terminal constraints. Next\, decentralized and distributed MPC schemes wil
 l be discussed that guarantee the satisfaction of coupled STL tasks withou
 t however imposing any communication requirements among agents involved in
  the same tasks.  A quantitative notion of trust will also be introduced 
 that determines the agents’ trustworthiness according to their performan
 ce. This notion will be used to guide agents’ decisions towards satisfyi
 ng collaborative tasks involving less trustworthy agents. We will conclude
  the talk with a recently proposed distributed control law that ensures as
 ymptotic task satisfaction for tasks involving agents not capable of excha
 nging information directly. The proposed control schemes are applied to ro
 botic and vehicle coordination scenarios\, and their efficacy is verified 
 in simulation.\n\nBiography:  \nMaria Charitidou received her B.Sc. degre
 e in mathematics from Aristotle University of Thessaloniki\, Greece in 201
 5\, the M.Sc. degree in systems and control from Delft University of Techn
 ology\, the Netherlands in 2019 and her PhD degree in electrical engineeri
 ng from KTH Royal Institute of Technology\, Sweden in 2024. After her Ph.D
 . she held postdoctoral positions in the Division of Decision and Control 
 Systems at KTH and the Institute for Systems Research at the University of
  Maryland\, College Park\, USA. Her research interests include formal meth
 ods\, multi-agent systems\, model predictive control and nonlinear systems
  and control.\n 
LOCATION:ME C2 405 https://plan.epfl.ch/?room==ME%20C2%20405
STATUS:CONFIRMED
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