Multiagent Coordination over Prescribed Time Intervals: System-Theoretic Foundations and Distributed Control
Abstract
Project Abstract (Publicly Releasable) Overview: The proposed research program aims to achieve the coordination of a group of networked autonomous vehicles (multiagent systems) over user-defined, prescribed time intervals t E [t0,T). If successful, it will enable system-theoretic foundations for creating time-sensitive multiagent missions, especially in security applications (e.g., reconnaissance, cooperative engagement, and sequential execution of time-critical network operations), where completion of the mission is necessary at a-priori assigned, user-defined final finite-time T < (infinity) (from its start at t0 > or equal to 0). To this end, time transformation methods will be exploited, for the first time, to facilitate the systematic development of distributed control architectures for broad classes of multiagent coordination applications over prescribed time intervals. Specifically, three synergistic research thrusts will be pursued: i) Create system-theoretic foundations of a transformative control synthesis and analysis framework over prescribed time intervals through time transformation; ii) Generalize and apply these foundations to develop system-theoretic distributed control architectures for multiagent systems over prescribed time intervals; and iii) Bridge the gap between theory and practice through high-fidelity simulations in collaboration with the Army Research Laboratory and laboratory-level experiments involving aerial and ground vehicles.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 11, 2018
- Source ID
- W911NF1710582
Entities
People
- Tansel Yucelen
Organizations
- Army Contracting Command
- United States Army
- University of South Florida