Distributed geometric coordination of autonomous vehicle networks moving in three dimensions

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This research program is on geometric formation acquisition and maintenance of autonomous multi-agent (vehicle/robot) systems (AMSs) in three dimensions under various circumstances of practical value. To achieve these acquisition and maintenance tasks, the program aims to design and analyze widely applicable sets of (i) sensing and control architectures, (ii) high level distributed coordination control laws, and (iii) low level practical controllers each of which controls the dynamics of an individual agent. The practical motivators and application areas of these designs and analysis include cooperative civilian and defense surveillance tasks involving teams of unmanned aerial vehicles, unmanned ground vehicles, autonomous underwater vehicles, spacecraft or robots; coordination of mobile wireless sensor networks; acquisition and regulation of fractionated space exploration units, e.g. fractionated telescopes, antennas, and satellites.