Formal-Language-Theoretic Control & Coordination of Mobile Robots

Abstract

The goal of this research is to enhance control and coordination of heterogeneous robots that include both Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs), supported by communication of onboard sensor and ancillary information among individual platforms and human users. The research has formulated and experimentally validated robust adaptive algorithms and software codes for decision and control of mobile robotic platforms, as applied to real-time computation and execution of combat mission strategies. These algorithms are executable within a general-purpose programming language environment and make use of the generative power of formal-language-theoretic models instead of ad-hoc rule-based expert systems. Future Plans: 1) Formulation of operational intelligence models in a formal-language-theoretic setting. 2) Algorithm development for intelligent coordination of autonomous agent teams to accomplish complex mission tasks.

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Document Details

Document Type
Technical Report
Publication Date
Oct 29, 2007
Accession Number
ADA482995

Entities

People

  • Asok Ray

Organizations

  • Pennsylvania State University

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Human Systems
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Automata Theory
  • Autonomous Systems
  • Computational Complexity
  • Computer Science
  • Computers
  • Control Systems
  • Decoding
  • Formal Languages
  • Message Decoding
  • Pattern Recognition
  • Probabilistic Models
  • Probability
  • Probability Distributions
  • Robotics
  • Supervisory Control
  • Unmanned Ground Vehicles

Fields of Study

  • Computer science
  • Engineering

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Artificial Intelligence
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control
  • Autonomy - UAVs