MAE 247. Cooperative Control of Multi-agent Systems

Announcements

In this website you will find some preliminary information about this course. All the class material will be shared via canvas.

Contact Information

Instructor	Office	Phone	Email
Prof. Sonia Martínez	FAH 3302	858-822-4243	soniamd at ucsd dot edu
Xuting Gao	office N/A	phone N/A	email at xug003 at ucsd dot edu

Schedule of Classes

Lecture	Time	Location
Lectures, TTh	9:30am - 10:50am	EBU-2 105

Office Hours

Instructor	Day	Time	Location
Sonia Martinez	TBA	3:30pm - 4:30pm	TBA (conference room)
Xuting Gao	Thurs	TBA	TBA

Course description

This course provides an introduction to the modeling, analysis and design of the cooperative control systems. Topics include continuous-time and discrete-time evolution models, distributed algorithms, distributed linear iterations, proximity graphs, geometric optimization, invariance principles and coordination algorithms for agent aggregation, deployment, flocking, formation control, synchronization, and distributed decision making. The tools of the course will be presented through application settings such as robotic, sensor, power, transportation, social, computer, and natural networks. These examples, and many others, point to the scientific problem of how to design and model interactions so that the behavior of these complex systems can be predicted.

Prerequisites

This course is math intensive and formal. Background knowledge in linear algebra, ODEs, dynamical systems, mathematical analysis, and mathematical reasoning. Familiarity with a simulation software or programming language.

Syllabus

The course syllabus can be found here

Notes

Will be made available through canvas.

Assignments

Your grade will tentatively be calculated as follows: Homework and class participation: 20% Final project: 50% Final exam: 30%. There is an extra credit of 2.5\% for those who answer questions in Piazza of other students. This requires 4 endorsed answers by the instructors. The TA will grade one homework question chosen at random every time.

Final exam: An in-class exam during the assigned schedule.

Computer access

University-licensed software includes Matlab while Python is free. As a UC San Diego student you have access to computer labs and printers throughout campus; see a list here. For more information about academic computing and media services see here

Collaboration Policy

You are encouraged to work with other students on your assignments, and to help other students complete their assignments, provided that you comply with the following conditions:

• Honest representation: The material you turn in for course credit must be a fair representation of your work. You are responsible for understanding and being able to explain and duplicate the work you submit. Group submissions are not allowed in this course, and each student should submit their own individual assignment, written in their own words. The same happens with programming exercises: please do not submit exact copies of programming solutions, the autocorrection tool in Gradescope checks for plagiarism.
• Active involvement: You must ensure that you are an active participant in all collaborations, and are not merely dividing up the work or following along while another student does the work. For example, copying another student's work without actively being involved in deriving the solution is strictly prohibited. To avoid misunderstandings, please turn in solutions written in your own words, not an exact copy of what someone else submits.
• Work individually or in small groups: Working in groups of more than *three* people is discouraged because it limits the amount of participation by each member of the group. In your homework solutions please indicate the names of the people you collaborated with.
• Give help appropriately: When helping someone, it is important not to simply give them a solution, because then they may not understand it fully and will not be able to solve a similar problem next time. It's always important to take the time to help someone think through the problem and develop the solution. Often, this can be accomplished by asking them a series of leading questions.
• If in doubt, ask your instructor: Be sure to ask in advance if you have any doubts about whether a certain type of collaboration is acceptable.

Note on Academic Dishonesty

No form of academic dishonesty will be tolerated, this specially refers to homework and plariagism.
In this course, the use of ChaptGPT or other GenAI tools to solve homework problems is not allowed and constitutes cheating. To avoid problems, please make sure you report who you work with when doing the homework, and do not turn in exact homework copies. Copying from previous homework solutions is also considered cheating. For the definition of academic dishonesty and its consequences refer to the Student Conduct Code available at the website https://academicintegrity.ucsd.edu