An integrated approach to the coordinated control of mobile agents

移动代理协调控制的集成方法

• 批准号: 0622017
• 负责人: Soura Dasgupta
• 金额: $ 24万
• 依托单位: University of Iowa
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-09-01 至 2010-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0622017&HistoricalAwards=false
• 关键词: integrated; approach; coordinated; control; mobile

0622017DasGuptaIntellectual merit of the proposed researchWe are concerned with the cooperative, distributed, fault tolerant and scalable control of networks of multiple mobile objects that cooperate through mutual information exchange, to achieve any number of objectives: achieve a formation, gather data, avoid obstacles, and withstand hostile environments. We integrate issues from controls, communications, networking, fault tolerance and signal processing to understand the basic issues underpinning multi-agent system design. We assume that all agents have been internally stabilized to have stable, possibly nonlinear dynamics. A substantial though not exclusive, focus will be on organizing them into formations specified by prescribed inter-agent relative positions and formation trajectory, through limited exchange of state information over communication constrained media. We will also consider formations defined by distances, rather than relative positions, organized largely through inter-agent distance measurements. These will serve as benchmarks for understanding network organization driven by such broader objectives as signal processing goals of sensor networks or surveillance missions of unmanned vehicles. Broader impact of the proposed ResearchApplications include sensor networks, air traffic control, formations of unmanned vehicles, organization of communication networks in response to disasters, satellite organization, automated highway systems and mobile robots engaged in cooperative tasks. Our research will have a fundamental impact on our understanding of how this technology can best be utilized and its application scope increased. Through the training of graduate students, development of courses and recruitment of women and minority, it will have a significant educational impact.

0622017DasGupta所提出研究的智力价值我们关注的是多个移动物体网络的协作、分布式、容错和可扩展控制，这些移动物体通过相互信息交换进行合作，以实现任意数量的目标：实现编队、收集数据、避开障碍物和承受敌对环境。我们整合控制、通信、网络、容错和信号处理方面的问题，以了解支撑多智能体系统设计的基本问题。我们假设所有智能体都已内部稳定，具有稳定的、可能非线性的动力学。一个重要但非排他性的焦点将是通过在通信受限的媒体上进行有限的国家信息交换，将它们组织成由规定的代理间相对位置和编队轨迹指定的编队。我们还将考虑由距离而不是相对位置定义的编队，主要通过代理间距离测量来组织。 这些将作为理解由传感器网络的信号处理目标或无人驾驶车辆的监视任务等更广泛的目标驱动的网络组织的基准。拟议研究应用的更广泛影响包括传感器网络、空中交通管制、无人驾驶车辆编队、应对灾害的通信网络组织、卫星组织、自动化高速公路系统和从事协作任务的移动机器人。我们的研究将对我们了解如何最好地利用这项技术并扩大其应用范围产生根本性影响。 通过研究生的培训、课程的开发以及女性和少数族裔的招募，它将产生重大的教育影响。