Robust Coordination Strategies for Heterogeneous UAS in Limited Communication Environments
Abstract
The proposed work seeks to advance the state-of-the-art in control of multiagentsystems through the following thrusts: i) TCC protocols in communication-limitedenvironments; ii) Topology of wireless communication networks. Distributed protocols that allowindividual specification of the temporal and coordination constraints for each of the agents in the fleetwill be explored. Time-varying coordination constraints that autonomously adapt to the localconditions of the airspace, allowing the vehicles to smoothly transition from tight coordination —forclose proximity operations— to different levels of loose coordination —for mid and far proximityoperations will be established. Stability, performance, informational needs, and potential benefits ofthe newly introduced schemes will be analyzed towards obtaining provable guarantees. Appropriatetools from Lyapunov theory, consensus, switched systems, spectral properties of graphs, and partialstability theory will be leveraged to establish a broad framework with the objective of having scalablesolutions. Communication delays and corresponding robustness margins will be analyzed for provableguarantees. Robustness of the resulting protocols to unplanned events such as malicious agents,unknown static and dynamic obstacles, and different weather conditions will be explored.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jul 11, 2018
- Source ID
- FA95501810269
Entities
People
- Naira Hovakimyan
Organizations
- Air Force Office of Scientific Research
- United States Air Force
- University of Illinois Urbana–Champaign