Motivation for cooperative control -
greater efficiency and operational capability than autonomous vehicles on solo missions.
Applications - space based interferometers, combat, surveillance and reconnaissance systems, hazardous material handling, distributed reconfigurable sensor networks.
Concepts in cooperative control -
Formation control, rendezvous, attitude alignment, flocking, foraging, task and role assignment, payload transport, air traffic control and cooperative search.
Challenges -
1. develop a system of subsystems rather than single system.
2. The communication bandwidth and connectivity of the team. - unreliable channels, what, when and whom to communicate with.
3. team goals and individual goals should be negotiated.
4. Limited computational resources in each individual vehicle.
Common assumptions done -
1. availability of global team knowledge.
2. ability to plan group actions in a centralized manner.
3. proper communication among the individuals.
Axiom - Shared information is a necessary condition for cooperation.
Information exchange is the central issue in cooperative control.
Coordination information/ coordination variable - the information that is necessary for cooperation.
The objective is to determine algorithms that can ensure the convergence of the coordination variable to pre-specified values in presence of
1. imperfect sensors.
2. communication dropout.
3.sparse communication topologies.
4.noisy and unreliable communication links.
greater efficiency and operational capability than autonomous vehicles on solo missions.
Applications - space based interferometers, combat, surveillance and reconnaissance systems, hazardous material handling, distributed reconfigurable sensor networks.
Concepts in cooperative control -
Formation control, rendezvous, attitude alignment, flocking, foraging, task and role assignment, payload transport, air traffic control and cooperative search.
Challenges -
1. develop a system of subsystems rather than single system.
2. The communication bandwidth and connectivity of the team. - unreliable channels, what, when and whom to communicate with.
3. team goals and individual goals should be negotiated.
4. Limited computational resources in each individual vehicle.
Common assumptions done -
1. availability of global team knowledge.
2. ability to plan group actions in a centralized manner.
3. proper communication among the individuals.
Axiom - Shared information is a necessary condition for cooperation.
Information exchange is the central issue in cooperative control.
Coordination information/ coordination variable - the information that is necessary for cooperation.
The objective is to determine algorithms that can ensure the convergence of the coordination variable to pre-specified values in presence of
1. imperfect sensors.
2. communication dropout.
3.sparse communication topologies.
4.noisy and unreliable communication links.
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