Guest Speaker: Dr CHEN Liangming
Center for Control Science and Technology
Southern University of Science and Technology (SUSTech)
Liangming Chen is an associate professor in the Center for Control Science and Technology, Southern University of Science and Technology (SUSTech), China. Before joining SUSTech, he was a postdoctoral research fellow under the supervision of Prof. Lihua Xie (Fellow of Academy of Engineering Singapore, IEEE Fellow) at Nanyang Technological University, Singapore. He and his collaborators developed the angle rigidity graph theory and applied it to multi-agent formation control and distributed localization. His research works were published in many top journals, including IEEE TAC, Automatica, IEEE TCST, IEEE TRO, IEEE TSP, IEEE JSAC etc. He was authorized by 4 national patents. He is a Senior Member of IEEE and an associate editor in the editorial board of EUCA.
Abstract
Motivated by the challenging formation control problem for a team of mobile robots where each robot can only measure some of the angles towards its neighbors in its local coordinate frame, this presentation introduces angle rigidity graph theory in both 2D and 3D. The angle rigidity graph theory is developed for a class of multi-robot frameworks, consisting of a set of nodes embedded in a Euclidean space and a set of angle constraints among them. Here angle rigidity refers to the property specifying that under proper angle constraints, the framework can only translate, rotate or scale as a whole when one or more of its nodes are perturbed locally. Using the developed angle rigidity theory, several types of angle-based formation control algorithms will be introduced for a team of mobile robots to achieve a desired angle rigid formation. The presentation will also introduce how the traditional formation control approaches can be combined with the popular Large Language Models to solve problems where multi-robot formations need to interact with their situated environment.
