Control of Autonomous Multi-Agent Systems, PART 2

Dr. Antonio Franchi* and Prof. Giuseppe Oriolo**

*LAAS-CNRS, Toulouse, France
**Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza UniversitÓ di Roma


The course starts on April 26, 2019 and ends on May 9, 2019. The exact schedule is the following:

April 26, 14:00-18:00
May 2,
May 3, 14:00-18:00
May 6, 17:00-19:00
May 7, 14:00-18:00
May 9, 15:00-17:00

All classes will take place in A5.

office hoursafter class
e-mailoriolo [at] diag [dot] uniroma1 [dot] it


This is Part 2 of Control of Autonomous Multi-Agent Systems, a two-part course for the students of the Master in Control Engineering at Sapienza University of Rome.

Syllabus (Part 2 only)

Introduction: Examples of application of multi-robot systems, Centralized vs. decentralized architectures.

Mathematical tools: Adjacency graph and matrix, Laplacian, Connectivity and Consensus, Passivity and Lyapunov stability, Interconnection of mechanical systems.

Applications to multi-UAV systems: Formation control with time-varying topology, Formation control with connectivity maintenance, Steady-state behaviors, Bearing-based formation control.

Application to multi-WMR systems: Cooperative mobile manipulation.

Swarm Robotics

Material (Part 2 only)


Lecture 1
Lecture 2
Lecture 3
Lecture 4
Lecture 5
Swarm Robotics 

Some introductory videos are on these YouTube channels: RoboticsLabSapienza and MPIRobotics.

Textbook: M. Mesbahi and M. Egerstedt, "Graph Theoretic Methods in Multiagent Systems," Princeton University Press, 2010.


Any student who has attended at least 2/3 of the lectures can pass Part 2 by giving a presentation on a certain topic (based on technical papers) or developing a small project (typically involving simulations).

Master Theses at the Robotics Laboratory

Master theses on the topics studied in this course are available at the DIAG Robotics Lab. More information can be found here.

Questions/comments: oriolo [at] diag [dot] uniroma1 [dot] it