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Keywords: Open Multi-Agent Systems, Multi-Robot Systems, Aerial Vehicles.

Supervisors: Pelin Sekercioglu, pelinse@kth.se, Nicola De Carli, ndc@kth.se,
Examiners: Dimos Dimarogonas, dimos@kth.se

Context & Motivation: Multi-agent systems are increasingly applied to tasks such as exploration, transportation, and surveillance. While most experimental platforms assume fixed teams, many real-world scenarios require open systems, where agents can join or leave dynamically. The Crazyflie nano-quadrotor platform offers a safe, flexible, and scalable testbed to study such settings. This thesis will implement and validate open multi-agent coordination strategies on Crazyflies, bridging the gap between theory and practice.

Background: Open multi-agent systems (OMAS) are networks where agents and edges can dynamically be added to or removed from the system. They naturally arise in applications such as social networks, where the graph size changes with participant arrivals and departures, and in sensor-based robotic systems, where topology adapts based on inter-agent distances [1].
In this project, we experimentally validate the theoretical results on formation control of UAVs in an open-system setting. We use the tools of graph theory and switched systems to model the MAS and, Lyapunov theory for the stability analysis.

If the final results are promising, they can potentially be turned into a publication.

## Your profile


Requirements:
    - Enrolled in a Master's course related to either: Automation and control, electrical engineering, (applied) mathematics, computer science
    - Interest in control theory and robotics engineering
    - Coding experience
    - Proficiency in English

Nice to have (not strictly required):
    - Background in nonlinear control
    - Coding experience in Python and with ROS2
    - Experience working with hardware
    - Experience with Git and/or GitHub


## How to apply

Please send the documents requested in "Application Documents" via email to Pelin Sekercioglu (pelinse@kth.se) and Nicola De Carli (ndc@kth.se).


[1] E. Restrepo, A. Loria, I. Sarras, and J. Marzat, “Consensus of open multi-agent
systems over dynamic undirected graphs with preserved connectivity and collision
avoidance,” in Proc. IEEE CDC, 2022, pp. 4609–4614.

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