Distributed geometric coordination of autonomous vehicle networks moving in three dimensions

三维移动自主车辆网络的分布式几何协调

• 批准号: 402049-2011
• 负责人: Fidan, Baris
• 金额: $ 1.46万
• 依托单位: University of Waterloo
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2012
• 资助国家: 加拿大
• 起止时间: 2012-01-01 至 2013-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=510116
• 关键词: Distributed; geometric; coordination; autonomous; vehicle

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.

该研究计划是关于在实际价值的各种情况下，在三个维度上以三个维度的自主多代理（车辆/机器人）系统（车辆/机器人）系统（AMS）进行几何形成和维护。为了实现这些收购和维护任务，该计划旨在设计和分析（i）感应和控制体系结构的广泛适用集，（ii）高级分布式协调控制法，以及（iii）低级实用控制器每个控制单个代理的动态。这些设计和分析的实践动机和应用领域包括涉及无人驾驶汽车，无人接地车辆，自动驾驶水下车辆，航天器或机器人团队的合作民用和国防监视任务；移动无线传感器网络的协调；对分级空间探索单元的采集和调节，例如分离的望远镜，天线和卫星。