Distributed geometric coordination of autonomous vehicle networks moving in three dimensions

本研究计划是在各种情况下的实用价值的三维自主多智能体（车辆/机器人）系统（AMS）的几何形成获取和维护。为了实现这些收购和维护任务，该计划的目的是设计和分析广泛适用的（i）传感和控制架构，（ii）高层次的分布式协调控制法，（iii）低层次的实际控制器，每个控制器的动态个别代理。这些设计和分析的实际动机和应用领域包括合作民用和国防监视任务，涉及无人驾驶飞行器，无人驾驶地面车辆，自主水下航行器，航天器或机器人的团队;移动的无线传感器网络的协调;获取和监管的细分空间探索单元，例如细分望远镜，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.