Distributed control of automonous agents

主要的兴趣是与分布式机器人网络相关的理论问题，在这些网络中，非常简单的机器人具有一些集体能力。建议继续以前的研究，根据学生的兴趣和能力量身定做。提出了两个具体的方面：1)研究机器人交会问题，考虑了更现实的方面：图像捕获的时间延迟、摄像机分辨率的误差、采样数据控制器、从机器人到机器人的处理器的不同步。能见度有限的独轮车的会合问题是一个完全开放的问题，将成为一个很好的博士课题。2)尝试将曲线缩短理论应用于机器人队形进化。有限数量的机器人的形成可以用一个多边形来描述。目标是为多边形创建一种分布式控制策略，该策略具有类似于平面中曲线的Gage-Hamilton-Grayson理论的属性。

The primary interest is with theoretical problems associated with distributed robot networks where very simple robots have some collective capability. It is proposed to continue previous research, tailored to student interest and ability. Two particular areas are proposed: 1) To study the robot rendezvous problem with more realistic aspects taken into account:  time delay for image capture, errors in camera resolution, sampled data controllers, non-synchroneity in processors from robot to robot. The rendezvous problem for unicycles with limited visibility is a completely open problem and would make an excellent PhD topic. 2) To try to adapt curve-shortening theory to robot formation evolution. The formation of a finite number of robots can be described by a polygon. The goal is  to create a distributed control strategy for polygons that exhibits attributes similar to Gage-Hamilton-Grayson theory for curves in the plane.