Human-in-the-loop Control of Multi-agent Aerial Systems Under Intermittent Communication.

摘要

Results in designing and defining novel human machine interaction based on psychological measures as well as multiple source control inputs that utilize various communication channels. Decentralized Control of Multi Agent Systems with HMI. This is dedicated to robustness analyses of control systems (designed in other WPs) with respect to realistic communication network artifacts. Under the term realistic network artifacts, we refer to communication channels that distort exchanged information and introduce propagation delays, packet dropouts/collisions, and limited network throughput and communication range. The main goal of this WP is to provide upper bounds on stabilizing intertransmission intervals. As long as these intertransmission upper bounds are met, control systems are provably stable in same appropriate sense. In order to decrease conservativeness of these upper bounds, information received in the last transmission instant are utilized. In the literature, this paradigm is known as self-triggered exchange of information. In addition, one may want to intentionally impose intermittent exchange of information on control systems. When information exchange is costly or undesirable (e.g., in scenarios where somebody could eavesdrop on our communication), it may be advantageous to decrease the rate at which the information is transmitted/exchanged. However, this decrease in the information exchange rate does not come for free. As the amount of exchanged information is reduced, the performance of the control system impairs. The rate of convergence drops causing the control report to increase (e.g., fuel consumption increases). In addition, the detrimental effect of propagation delays becomes more evident. Therefore, intentional intermittent feedback and its repercussions need to be investigated in more detail. To the best of our knowledge, to this date multi-UAV systems are limited to tactical surveillance and reconnaissance missions.