Robust Control of Networks of Heterogeneous Nonholonomic Vehicles in Uncertain Environments
Abstract
Models based on multi-agent systems have received significant attention in recent yearsbecause of their potential application in various operations including military missions.While the initial work on multi-agent systems concentrated on linear homogeneous agents,researchers are now looking at networks of nonlinear heterogeneous agents. However, re-searchers have not yet considered networks of heterogeneous nonholonomic agents that areprevalent in real applications since nonholonomicity introduces a degree of complexity thatrequires a completely fresh approach to multi-agent systems. Such approach will require aframework for robust coordinated decentralized network control, trajectory planning, andlow-level tracking control that take into account the varying degrees of nonholonomicity ofvarious types of agents. Any state trajectory planning and tracking control must avoid re-gions in the state space that are unreachable by the system. The approach must be robustto uncertainties and environmental disturbances and take into account the complex internaldynamics of individual agents, their physical constraints, communication limitations, andnetwork topology. Coordinated landing of aircrafts on a ship at high sea states is one exam-ple where such approach can be effectively implemented utilizing its capability to addressenvironmental disturbances, physical constraints of the vehicles, and decentralized sensingand control.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Apr 25, 2019
- Source ID
- N000141912255
Entities
People
- Hashem Ashrafiuon
Organizations
- Office of Naval Research
- United States Navy
- Villanova University