CAREER: Formal Cooperative Planning of Decentralized Robot Actions - Career Development Plan

该项目首次将高层规划和重新配置与异构多代理系统中的低层执行联系起来。计划决策是自动化的，并将底层系统的各种能力结合起来，以实现共同的目标。所导出的方案保证了对新型分散连续控制器的定时切换序列的细化。互联系统无需重新配置硬件即可完成各种复杂的协同任务。这是在异构互联系统中完成计划和控制执行的第一个可伸缩方法。该方法建立在分层混合体系结构上，其中决策发生在较高的纯离散层，而计划的执行由较低层的连续控制器监督。采用抽象的方法建立了低连续模型与高离散模型之间的联系。不同的同构机器人群通过一组合作控制器获得渐近抽象离散表示。一个组内的控制器切换，以及多个组之间的并发和同步执行，都在一个产品时间自动机中被捕获。将时间自动机进一步抽象为一个纯离散的下推自动机，使用其堆栈来存储时间信息。从下推自动机中提取等价的上下文无关语法，并将合作任务表示为该语法中的单词。自动解析产生与协作计划相对应的派生，其形式是底层组中的控制器激活序列。作为卡内基博士/研究型大学的三所西班牙裔服务机构之一，新墨西哥大学在招收西班牙裔和美洲原住民学生方面具有独特的优势

This project links for the first time high level planning and reconfiguration to low level execution in heterogeneous multi-agent systems. Planing decisions are automated and combine the diverse capabilities of the underlying systems towards a common objective. The derived plans have guaranteed refinement into timed switching sequences of novel, decentralized continuous controllers. The interconnected system can complete a variety of complex cooperative tasks without hardware reconfiguration. This is the first scalable methodology for complete planning and controlled execution in heterogeneous interconnected systems.The method builds on a hierarchical hybrid architecture in which decision making takes place in the higher purely discrete layers, while the execution of plans is supervised by continuous controllers at the lower layers. The link between the low continuous dynamics and the higher discrete models is established using abstraction. Different homogeneous robotic groups obtain asymptotic abstract discrete representations via a palette of cooperative controllers. Controller switching within a group, as well as concurrent and synchronized execution among several groups is captured in a product-timed automaton. The timed automaton is further abstracted into a purely discrete push down automaton that uses its stack to store timing information. From the push down automaton we extract an equivalent context free grammar, and express the cooperative tasks as words in this grammar. Automatic parsing yields derivations that correspond to cooperative plans, in the form of sequences of controller activations in the underlying groups.Being one of the three Hispanic Serving Institutions in Carnegie Doctoral/Research Universities-Extensive, UNM is uniquely positioned to recruit Hispanic and Native American students