Distributed geometric coordination of autonomous vehicle networks moving in three dimensions

本课题是关于三维自主多智能体(车辆/机器人)系统在不同环境下的几何队形获取与维护的研究，具有实用价值。为了完成这些获取和维护任务，该计划旨在设计和分析广泛适用的一组(I)传感和控制体系结构，(Ii)高级分布式协调控制律，以及(Iii)低级实用控制器，每个控制器控制单个代理的动态。这些设计和分析的实际动机和应用领域包括合作的民用和国防监视任务，涉及无人驾驶飞行器、无人驾驶地面飞行器、自主水下航行器、航天器或机器人团队；移动无线传感器网络的协调；对分离的空间探索单位的获取和管理，例如分离的望远镜、天线和卫星。

This research program is on geometric formation acquisition and maintenance of autonomous multi-agent (vehicle/robot) systems (AMSs) in three dimensions under various circumstances of practical value. To achieve these acquisition and maintenance tasks, the program aims to design and analyze widely applicable sets of (i) sensing and control architectures, (ii) high level distributed coordination control laws, and (iii) low level practical controllers each of which controls the dynamics of an individual agent. The practical motivators and application areas of these designs and analysis include cooperative civilian and defense surveillance tasks involving teams of unmanned aerial vehicles, unmanned ground vehicles, autonomous underwater vehicles, spacecraft or robots; coordination of mobile wireless sensor networks; acquisition and regulation of fractionated space exploration units, e.g. fractionated telescopes, antennas, and satellites.