CAREER: Formal Cooperative Planning of Decentralized Robot Actions - Career Development Plan

这个项目的第一次高层次的规划和重新配置，低层次的执行异构多代理系统的链接。规划决策是自动化的，并且联合收割机将基础系统的不同能力结合起来，以实现共同的目标。派生计划保证细化到新颖的，分散的连续控制器的定时开关序列。互联系统可以完成各种复杂的协作任务，而无需硬件重构。这是第一个可扩展的方法，在异构互联systems.The方法建立在一个分层的混合体系结构，其中决策发生在较高的纯离散层，而计划的执行是由连续的控制器在较低层的监督完整的规划和控制执行。低连续动态和高离散模型之间的联系是使用抽象建立的。不同的同质机器人群体获得渐近抽象的离散表示通过调色板的合作控制器。一个组内的控制器切换，以及多个组之间的并发和同步执行被捕获在一个产品定时自动机。时间自动机被进一步抽象成一个纯粹的离散下推自动机，使用其堆栈来存储定时信息。我们从下推自动机中提取了一个等价的上下文无关文法，并将协作任务表示为该文法中的词。自动解析产生对应于合作计划的派生，以底层组中控制器激活序列的形式。作为卡内基博士/研究型大学的三个西班牙裔服务机构之一，UNM独特地定位于招收西班牙裔和美洲原住民学生

This project links for the first time high level planning and reconfiguration to low level execution in heterogeneous multi-agent systems. Planing decisions are automated and combine the diverse capabilities of the underlying systems towards a common objective. The derived plans have guaranteed refinement into timed switching sequences of novel, decentralized continuous controllers. The interconnected system can complete a variety of complex cooperative tasks without hardware reconfiguration. This is the first scalable methodology for complete planning and controlled execution in heterogeneous interconnected systems.The method builds on a hierarchical hybrid architecture in which decision making takes place in the higher purely discrete layers, while the execution of plans is supervised by continuous controllers at the lower layers. The link between the low continuous dynamics and the higher discrete models is established using abstraction. Different homogeneous robotic groups obtain asymptotic abstract discrete representations via a palette of cooperative controllers. Controller switching within a group, as well as concurrent and synchronized execution among several groups is captured in a product-timed automaton. The timed automaton is further abstracted into a purely discrete push down automaton that uses its stack to store timing information. From the push down automaton we extract an equivalent context free grammar, and express the cooperative tasks as words in this grammar. Automatic parsing yields derivations that correspond to cooperative plans, in the form of sequences of controller activations in the underlying groups.Being one of the three Hispanic Serving Institutions in Carnegie Doctoral/Research Universities-Extensive, UNM is uniquely positioned to recruit Hispanic and Native American students