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Project: A constructive approach to control with heterogeneity in distributed system networks

08/01/13 – 31/08/16

Most academic results on robotic swarm coordination assume identical subsystems. With such controllers, individual deviations in subsystem properties can sometimes have catastrophic consequences. This project develops mechanisms that explicitly incorporate robustness to structured heterogeneities into coordination controllers. One proposed approach would use dynamical decoupling methods from quantum control to average out parameter deviations and measurement biases in collective robotic motions.