Robust Architectures for Complex Multi-Agent Heterogeneous Systems.

摘要

The research accomplished within this time period leveraged the prior accomplishments in the area of networked multi-agent systems. The past work (prior to 2011) focused on development of cooperative control algorithms in the presence of temporal and spatial constraints. During 2011-2014, we enriched the framework by (i) developing cooperative control algorithms in the presence of dynamic information flow and quantized measurements, (ii) developing a cooperative trajectory generation framework with account of spatial and temporal constraints, and (iii) developing a decoupled architecture for distributed control of uncertain networked systems. Additionally, a preliminary collision avoidance algorithm has been developed for a team of cooperating Unmanned Aerial Vehicles (UAV), executing a time-critical mission while encountering a non-cooperative aircraft.