An integrated approach to the coordinated control of mobile agents

移动代理协调控制的集成方法

• 批准号: 0622017
• 负责人: Soura Dasgupta
• 金额: $ 24万
• 依托单位: University of Iowa
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-09-01 至 2010-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0622017&HistoricalAwards=false
• 关键词: integrated; approach; coordinated; control; mobile

0622017DasGuptaIntellectual merit of the proposed researchWe are concerned with the cooperative, distributed, fault tolerant and scalable control of networks of multiple mobile objects that cooperate through mutual information exchange, to achieve any number of objectives: achieve a formation, gather data, avoid obstacles, and withstand hostile environments. We integrate issues from controls, communications, networking, fault tolerance and signal processing to understand the basic issues underpinning multi-agent system design. We assume that all agents have been internally stabilized to have stable, possibly nonlinear dynamics. A substantial though not exclusive, focus will be on organizing them into formations specified by prescribed inter-agent relative positions and formation trajectory, through limited exchange of state information over communication constrained media. We will also consider formations defined by distances, rather than relative positions, organized largely through inter-agent distance measurements. These will serve as benchmarks for understanding network organization driven by such broader objectives as signal processing goals of sensor networks or surveillance missions of unmanned vehicles. Broader impact of the proposed ResearchApplications include sensor networks, air traffic control, formations of unmanned vehicles, organization of communication networks in response to disasters, satellite organization, automated highway systems and mobile robots engaged in cooperative tasks. Our research will have a fundamental impact on our understanding of how this technology can best be utilized and its application scope increased. Through the training of graduate students, development of courses and recruitment of women and minority, it will have a significant educational impact.

拟议研究的0622017DASGUPTERTELLECTUAL优点与合作，分布式，可容忍和可扩展的多个移动对象网络的控制有关，这些网络通过相互信息交流进行合作，以实现任何数量的目标：实现形式，收集数据，避免障碍，避免障碍，以及障碍，以及障碍，以及障碍，并避免承受敌对环境。我们整合了从控件，通信，网络，容错性和信号处理的问题，以了解基本的多代理系统设计基础的问题。我们假设所有代理都在内部稳定，具有稳定的，可能是非线性动力学。一个实质但不是排他性的，重点将是将它们组织成由规定的相对位置和形成轨迹规定的编队，这是通过与通信约束媒体相比，国家信息的有限交流。我们还将考虑由距离定义的，而不是相对位置定义的，主要是通过距离距离测量值组织的。 这些将是理解网络组织的基准，这些基准由传感器网络的信号处理目标或无人车辆的监视任务等更广泛的目标驱动。拟议的研究应用程序的更广泛的影响包括传感器网络，空中交通管制，无人车辆的形成，响应灾难的通信网络组织，卫星组织，自动化的高速公路系统和从事合作任务的移动机器人。我们的研究将对我们对如何最好地利用该技术的理解产生根本的影响，并且其应用范围增加了。 通过培训研究生，开发课程以及妇女和少数民族的招聘，这将产生重大的教育影响。