Why Would We Want a Multi-Agent System Unstable
Offered By: Stanford University via YouTube
Course Description
Overview
Syllabus
Introduction
Objective - unstable feedback loop? ord
Why CBFs? Short answer - convex QP
CBF based safety filter
Barrier margin for robustness
Robust Control Barrier Functions
Turning obstacles into barriers
CBF based obstacle avoidance
Traffic flow and gridlocks
Avoiding interacting obstacles
Decentralized multi-agent controllers
Centralized CBF Controller
Co-optimization and CCS
PCCA algorithm guarantees
5 agents Monte Carlo Simulations
Comparison of CBF based methods
Deadlock resolution
Cause of gridlocks - stability?
DR: simulation perspective
Centralized and PCCA equilibrium analysis
PCCA: simulation perspective
Properties of CBF algorithms
Some MA unstable modes are undesirable
Lower barrier bandwidth may improve flow
Conclusion
Predictor-Corrector for Coll. Avoidance
Taught by
Stanford Online
Tags
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