CAREER: Coordination of Dynamic Networks - A Hybrid System Approach

这一职业发展计划包括重要的研究、教育和拓展部分。研究部分致力于开发新的和系统的方法来分析、设计和实现协作动态网络。动态网络由空间上分布的动态节点(如自主车辆、移动传感器)组成，它们通过共同的目标集和节点之间可能的动态交互来协调。在许多应用中，动态网络可能比单一车辆更适合，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可能会失去，可能会发生破坏性的冲突或干扰。这项研究将被整合到课程开发中，旨在为本科生提供研究机会，重点是吸引和留住代表不足的少数群体。外展部分将支持正在进行的针对K-12机构和俄克拉荷马州美洲原住民人口的教育项目。智能价值互动系统复杂网络的新发展，如用于国土安全、搜索和救援行动、救灾行动、多目标/多平台战场群、无人驾驶飞行器系统、智能公路/车辆系统、无线监控网络和其他方面的复杂互动系统网络的新发展，对在不断变化的环境中设计协作控制方案和通信策略提出了严格的要求。这类系统的大规模互连性质要求基于逻辑的监督员具有更强的动态规划和优化能力，并保证在受限、联合信息和通信技术解决方案、故障处理和其他决策的约束下的性能。为了促进这类系统的设计，将解决以下关键研究挑战：开发计算效率高的分布式模型预测控制算法。基于协同优化的控制新算法的推导。开发新的方法，通过融合来自动态网络上的不同传感器的信息，并为每个节点提供所需的信息来规划和控制其移动性，从而实现目标导向的感知。设计了自适应鲁棒控制器，该控制器考虑了机器人网络动力学的不确定性。对所提议的方法进行实验验证和验证。更广泛的影响为了确保上述职业研究努力对社会产生最广泛的影响，应将其与连贯的教育和外联计划结合起来。众所周知，机器人技术为激发学生对科学和工程的兴趣提供了一个极好的平台。该提案包括针对高中生、本科生和研究生的教育内容。拟议的工作包括：对科学、数学、工程和技术学(SMET)中任职人数不足的学生进行辅导活动，目的是留住他们在电气和计算机工程领域。将设计一个机器人推广计划，以激发美国原住民儿童的兴趣，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。寻求产业/政府合作伙伴关系以转让技术。除了在参考会议和期刊上发表文章外，课程还将引入新的课程，如计算机嵌入式系统、机器人和感知以及控制混合系统。软件工具、算法、演示和结果将在网上提供。这份职业建议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.