Multi-Agent Formation Control, Gain Graph Theory and Weighted Directed Graph Theory
时间 Datetime
2025-10-23 10:15 — 12:00
地点 Venue
会议室(703)
报告人 Speaker
祁力群
单位 Affiliation
香港理工大学
邀请人 Host
张晓东
备注 remarks
报告摘要 Abstract
Dual quaternions, in particular, unit dual quaternions, have found wide applications in robotics, 3D motion modelling and control, and computer graphics. Some very important engineering problems, such as the formation control of UAV (unmanned aerial vehicles) and small satellites are now based upon dual quaternions. In the past three years, my collaborators and I have explored dual quaternions and their applications in formation control, hand-eye calibration and simultaneous location and mapping (SLAM). In this talk, I report some deep relations betweenmulti-agent formation control and some rich branches of algebraic graph theory, Gain Graph Theory andWeighted Directed Graph Theory. This is a joint work with Chunfeng Cui, Chen Ouyang and Ligong Wang.
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