Collaborative Research: Safe Coordination of Multiple Autonomous Vehicles

该项目的重点是开发在各种物理、避碰和信息约束条件下，多辆车完成多个任务的安全协调方法。安全协调假设车辆的完成？在不违反整体多车系统的情况下实现个人和团体目标？年代的安全。如果保证车辆之间以及车辆与静态物体之间不发生碰撞，则认为多车协调是安全的。个人和群体目标是基于许多应用定义的，包括监视和侦察，移动传感器网络控制，使用移动机器人操纵静态物体，空中和高速公路交通控制，仅举几例。该项目的主要交付成果是提供一些方法，这些方法将导致在存在安全、运动和通信限制的情况下协调各种车辆的可实施控制律。理论结果将在多个实验车辆平台上进行测试。成功完成这个项目的好处是很多的。为地面和空中交通法规以及无人驾驶车辆的众多应用提供安全协调法律的含义至关重要，首先也是最重要的是所涉及的人类安全。其好处还包括由于避免碰撞而降低的成本，以及通过假设现实模型使用自动驾驶车辆群实现预期目标的可靠性。研究生和本科生将从研究具有理论挑战性的问题中受益，并获得许多有用的应用机会。使用多个自主机器人的演示将呈现给K-12学生，以便向他们介绍工程作为一种职业可以提供的令人兴奋的机会。

The focus of the project is on developing methods for safe coordination of groups of multiple vehicles accomplishing multiple tasks in the presence of a variety of physical, collision avoidance, and informational constraints. Safe coordination assumes the accomplishment of the vehicles? individual and group goals while never violating the overall multi-vehicle system?s safety. Coordination of multiple vehicles is considered safe if there is a guarantee of no collisions between the vehicles and between the vehicles and static objects. The individual and group goals are defined based on numerous applications including surveillance and reconnaissance, control of mobile sensor networks, manipulation of static objects using mobile robots, and air and highway traffic control, to name a few. The main deliverable of this project is to provide methodologies that would lead to implementable control laws for coordination of a variety of vehicles in the presence of safety, motion, and communication constraints. The theoretical results will be tested on a number of experimental vehicle platforms. The benefits of successfully accomplishing this project are numerous. Implications of providing safe coordination laws for ground and air traffic regulations as well as for numerous applications of groups of unmanned vehicles are of crucial importance, the first and the foremost being the safety of humans involved. The benefits also include a decrease in cost due to collision avoidance and the reliability of accomplishing desired goals using groups of autonomous vehicles by assuming realistic models. Graduate and undergraduate students would benefit from investigating problems that are theoretically challenging with many useful application opportunities. Demonstrations using multiple autonomous robots will be presented to K-12 students in order to introduce them to exciting opportunities that engineering as a profession can offer.