CAREER: Coordination of Dynamic Networks - A Hybrid System Approach

这个职业发展计划包括重要的研究、教育和拓展部分。研究部分侧重于开发用于分析、设计和实施合作动态网络的新颖和系统的方法。动态网络由空间分布的动态节点（例如，自动驾驶汽车，移动传感器）组成，这些节点通过共同的目标集和节点之间可能的动态交互进行协调。在许多应用中，动态网络可能比单个车辆更合适，特别是在分布式传感器系统具有优势的情况下。然而，如果不协调节点的移动或不管理节点检索的信息，动态网络部署的任何优势都可能丧失，并且可能发生破坏性的冲突或干扰。这项研究将整合到课程开发中，旨在为本科生提供研究机会，重点是吸引和留住代表性不足的少数民族。外展部分将支持正在进行的教育计划，旨在针对K-12机构和俄克拉荷马州的美洲原住民。复杂的交互系统网络的新发展，如用于国土安全的自主车辆/机器人团队、搜索和救援行动、救灾行动、多目标/多平台战场群、无人机系统、智能公路/车辆系统、无线监视网络等，对在不断变化的环境下设计协作控制方案和通信策略提出了严峻的要求。此类系统的大规模互联特性需要基于逻辑的监督者，这些监督者具有增强的动态规划、最优性和保证性能受约束、冲突解决、故障处理和其他决策的能力。为了促进这类系统的设计，将解决以下关键研究挑战：开发分布式模型预测控制的计算效率算法。基于协同优化控制新算法的推导。开发新的方法，通过在动态网络中融合来自异构传感器的信息，并为每个节点提供规划和控制其移动性所需的信息，从而实现目标定向传感。设计考虑机器人网络动力学不确定性的自适应鲁棒控制器。实验验证和验证所提出的方法。更广泛的影响确保上述职业研究重点对社会产生最广泛的影响，它们应与连贯的教育和推广计划相结合。众所周知，机器人技术提供了一个很好的平台，让学生对科学和工程感兴趣。该提案包括针对高中生、本科生和研究生的教育内容。建议的工作包括：指导活动，包括在科学，数学，工程和技术（SMET）中代表性不足的学生，目的是将他们留在电气和计算机工程中。将设计一个机器人扩展计划，以激发美国土著儿童的兴趣，在非正式的学习环境中增加他们对科学、技术和工程的欣赏和理解。寻求工业/政府伙伴关系以转让技术。除了在参考会议和期刊上发表论文外，课程还将引入计算机嵌入式系统、机器人与感知、控制混合系统等新课程。软件工具、算法、演示和结果将在网上提供。本职业计划书的教育和研究部分建立在俄克拉荷马州立大学支持的以前和正在进行的工作和现有设备的基础上。

This Career development plan includes significant research, educational, and outreach components. Theresearch component is focused on developing novel and systematic methodologies for the analysis, design,and implementation of cooperative dynamic networks. A dynamic network consists of spatially distributeddynamic nodes (e.g., autonomous vehicles, mobile sensors) which are coordinated by common set of goals andpossible dynamic interaction between the nodes. There are many applications where a dynamic network maybe more suitable than a single vehicle, especially where a distributed system of sensors is advantageous. Yetwithout coordinating the movement of the nodes or without managing the information the nodes retrieve,any advantage of dynamic network deployment may be lost and damaging collisions or interference mayoccur.This research will be integrated into curriculum development designed to provide research opportunitiesfor undergraduate students with emphasis on attracting and retaining underrepresented minorities. Theoutreach component will support on-going educational programs designed to target K-12 institutions, andthe Native American populations of Oklahoma.Intellectual Merit New Developments in complex networks of interacting systems like teams of au-tonomous vehicles/robots for homeland security, search and rescue operations, disaster relief operations,multi-targeting/multi-platform battlefield groups, unmanned air vehicle systems, intelligent highway/vehiclesystems, wireless surveillance networks, and elsewhere place severe demands on the design of cooperativecontrol schemes and communication strategies in the presence of changing environment. The large-scale in-terconnected nature of such systems requires logic-based supervisors with increased capabilities for dynamicplanning, optimality and that guarantees performance subject to constraints, con ict resolution, failurehandling, and other decisions. To facilitate the design of this class of systems the following key researchchallenges will be addressed: Development of computationally efficient algorithms for distributed model predictive control. Derivation of novel algorithms for cooperative optimization based control. Development new methodologies that enable goal directed sensing by fusing the information fromheterogeneous sensors over the dynamic network, and providing the required information for each nodeto plan and control its mobility. Designing adaptive robust controllers that take into account the uncertainties on the dynamics of therobotic network. Experimental verification and validation of the proposed methodologies.Broader Impact Ensuring that the above Career research thrusts have the broadest impact on society,they should be integrated with a coherent educational and outreach plan. It is well-known that robotics pro-vides an excellent platform for getting students interested in science and engineering. This proposal includeseducational components targeted at high school, undergraduate, and graduate students. The proposed workincludes: Mentoring activities that include under-represented students in Science, Mathematics, Engineering andTechnology (SMET) with the objective of retaining them in electrical and computer engineering. A robotic extension program will be designed to stimulate the interest of Native American children toincrease their appreciation and understanding of science, technology, and engineering, in an informallearning environment. Seek industrial/governmental partnerships to transfer technology. Besides publications in refereedconference and journals, new courses such as Computer Embedded Systems, Robotics and Perception,and Control Hybrid Systems will be introduced into the curriculum. Software tools, algorithms, demos and results will be available on the web.The educational and research components of this Career proposal build upon previous and on-going workand existing equipment supported by Oklahoma State University.