Multi-agent systems, or networked dynamic systems, are systems composed of dynamic units that interact with each other over an information exchange network. These systems can be used to perform team objectives with applications ranging from formation flying to distributed computation. Challenges associated with these systems are their analysis and synthesis, arising due to their decoupled, distributed, large-scale nature, and due to limited inter-agent sensing and communication capabilities. This course provides an introduction to these systems via tools from graph theory, dynamic systems theory, and optimization. The course will cover a variety of modeling techniques for different types of networked systems and proceed to show how their properties, such as stability and performance, can be analyzed. The course will also explore techniques for designing these systems, including distributed control strategies, and optimization methods for network design. The course will also cover real-world applications by presenting recent results obtained in the distributed formation control of multi-robot systems.
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