U.S.-Portugal Cooperative Research: Coordination and Control of Multiple Vehicles

9801865Varaiya这个为期三年的奖项支持由Parvin Varaiya领导的加州大学伯克利分校的Path项目和波尔图大学工程学院(SRG)的系统和机器人小组之间的美葡合作研究；教员小组由Fernando Lobo Pereira领导。PATH项目的目标是设计自动化公路系统，以便大幅提高地面运输的能力和安全性。该项目是联邦公路局智能交通系统计划的一部分。SRG一直在基于通用航行器(GV)的概念参与一个涉及多个自主水下航行器协调作业的海洋实地研究项目。该合作的目标是将交互式混合动力系统的理论应用于多辆车辆的协调运动，并为这种运动设计和实现实时控制算法。美国团队将他们在混合动力控制和验证以及测试环境方面的专业知识带到这次合作中，即自动化公路系统项目。此外，波尔图大学的葡萄牙小组还将GV概念应用于多个自主水下航行器。预计该项目将利用各种应用场景以及补充经验，找出更有效的办法来解决陆地和水下航行器的可靠、低成本导航问题。

9801865VaraiyaThis three-year award supports U.S.-Portugal cooperative research between the PATH project of the University of California at Berkeley, led by Parvin Varaiya, and the Systems and Robotics Group of the Engineering Faculty (SRG) of the University of Porto; the faculty group is led by Fernando Lobo Pereira. The objective of the PATH project is to design automated highway systems so that capacity and safety of surface transportation are increased substantially. This project is part of the Federal Highway Authority's Intelligent Transportation Systems Program. SRG has been engaged in a project of oceanographic field study involving the coordinated operation of multiple autonomous underwater vehicles, based on the concept of a Generalized Vehicle (GV). The objective of the proposed collaboration is to apply the theory of interactive hybrid systems to the coordinated movement of multiple vehicles, and the design and implementation of real-time control algorithms for such movement.The U.S. group brings to this collaboration their expertise in theory for hybrid control and verification and a test environment, the automated highway systems project. This is complemented by the application of the GV concept to multiple autonomous underwater vehicles developed by the Portuguese group at The University of Porto. The project is expected to take advantage of the application scenarios as well as of the complementary experiences to identify more efficient ways of solving the problem of robust low-cost navigation for land and underwater vehicles.