Cooperative Control Via Task Load Balancing For Networked Uninhabited Autonomous Vehicles
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Cooperative Control of Distributed Multi-Agent Systems
| Author | : Jeff Shamma |
| Publisher | : John Wiley & Sons |
| Total Pages | : 452 |
| Release | : 2008-02-28 |
| Genre | : Science |
| ISBN | : 9780470724194 |
The paradigm of ‘multi-agent’ cooperative control is the challenge frontier for new control system application domains, and as a research area it has experienced a considerable increase in activity in recent years. This volume, the result of a UCLA collaborative project with Caltech, Cornell and MIT, presents cutting edge results in terms of the “dimensions” of cooperative control from leading researchers worldwide. This dimensional decomposition allows the reader to assess the multi-faceted landscape of cooperative control. Cooperative Control of Distributed Multi-Agent Systems is organized into four main themes, or dimensions, of cooperative control: distributed control and computation, adversarial interactions, uncertain evolution and complexity management. The military application of autonomous vehicles systems or multiple unmanned vehicles is primarily targeted; however much of the material is relevant to a broader range of multi-agent systems including cooperative robotics, distributed computing, sensor networks and data network congestion control. Cooperative Control of Distributed Multi-Agent Systems offers the reader an organized presentation of a variety of recent research advances, supporting software and experimental data on the resolution of the cooperative control problem. It will appeal to senior academics, researchers and graduate students as well as engineers working in the areas of cooperative systems, control and optimization.
Cooperative Control of Multi-Agent Systems
| Author | : Yue Wang |
| Publisher | : John Wiley & Sons |
| Total Pages | : 335 |
| Release | : 2017-03-20 |
| Genre | : Technology & Engineering |
| ISBN | : 1119266211 |
A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice — illustrated within the context of highly-realistic scenarios of high-level missions — without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.
Self-Organizing Systems
| Author | : Christian Bettstetter |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 125 |
| Release | : 2011-02-10 |
| Genre | : Computers |
| ISBN | : 3642191665 |
This book constitutes the refereed proceedings of the 5th International Workshop on Self-Organizing Systems, IWSOS 2011, held in Karlsruhe, Germany, in February 2011. The 9 revised full papers presented together with 1 invited paper were carefully selected from 25 initial submissions. It was the 5th workshop in a series of multidisciplinary events dedicated to self-organization in networked systems with main focus on communication and computer networks. The papers address theoretical aspects of self-organization as well as applications in communication and computer networks and robot networks.
Cooperative Control of Networked Vehicles
| Author | : Alexander Schwab |
| Publisher | : Logos Verlag Berlin GmbH |
| Total Pages | : 192 |
| Release | : 2022-08-29 |
| Genre | : Technology & Engineering |
| ISBN | : 3832555498 |
This thesis concerns the cooperative control of networked vehicles. Autonomous driving is a topic that is currently being discussed with great interest from researchers, vehicle manufacturers and the corresponding media. Future autonomous vehicles should bring the passengers to their desired destination while improving both safety and efficiency compared to current human-driven vehicles. The inherent problem of all vehicle coordination tasks is to guarantee collision avoidance in every situation. To this end, autonomous vehicles have to share information with each other in order to perform traffic manoeuvres that require the cooperation of multiple vehicles. The fundamental problem of vehicle platooning is studied extensively which describes the task of arranging a set of vehicles so that they drive with a common velocity and a prescribed distance. Local design objectives are derived that have to be satisfied by the vehicle controllers. In particular, it is shown that the vehicles have to be externally positive to achieve collision avoidance. As an abstraction from real traffic scenarios, swarms of networked vehicles are considered. The main difference between swarming and traffic problems is that a communication structure that has been appropriate in the beginning might become unsuited for the control task due to the relative movement of the vehicles. To solve this problem, this thesis proposes to use the Delaunay triangulation as a switching communication structure.
Organic Computing — A Paradigm Shift for Complex Systems
| Author | : Christian Müller-Schloer |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 629 |
| Release | : 2011-04-29 |
| Genre | : Computers |
| ISBN | : 3034801300 |
Organic Computing has emerged as a challenging vision for future information processing systems. Its basis is the insight that we will increasingly be surrounded by and depend on large collections of autonomous systems, which are equipped with sensors and actuators, aware of their environment, communicating freely, and organising themselves in order to perform actions and services required by the users. These networks of intelligent systems surrounding us open fascinating ap-plication areas and at the same time bear the problem of their controllability. Hence, we have to construct such systems as robust, safe, flexible, and trustworthy as possible. In particular, a strong orientation towards human needs as opposed to a pure implementation of the tech-nologically possible seems absolutely central. The technical systems, which can achieve these goals will have to exhibit life-like or "organic" properties. "Organic Computing Systems" adapt dynamically to their current environmental conditions. In order to cope with unexpected or undesired events they are self-organising, self-configuring, self-optimising, self-healing, self-protecting, self-explaining, and context-aware, while offering complementary interfaces for higher-level directives with respect to the desired behaviour. First steps towards adaptive and self-organising computer systems are being undertaken. Adaptivity, reconfigurability, emergence of new properties, and self-organisation are hot top-ics in a variety of research groups worldwide. This book summarises the results of a 6-year priority research program (SPP) of the German Research Foundation (DFG) addressing these fundamental challenges in the design of Organic Computing systems. It presents and discusses the theoretical foundations of Organic Computing, basic methods and tools, learning techniques used in this context, architectural patterns and many applications. The final outlook shows that in the mean-time Organic Computing ideas have spawned a variety of promising new projects.
Autonomic and Trusted Computing
| Author | : Juan González Nieto |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 280 |
| Release | : 2009-06-22 |
| Genre | : Computers |
| ISBN | : 3642027032 |
This book constitutes the refereed procedings of the 6th International Conference on Autonomic and Trusted Computing, ATC 2009, held in Brisbane, Australia, in July 2009, co-located with UIC 2009, the 6th International Conference on Ubiquitous Intelligence and Computing. The 17 revised full papers presented together with one invited paper and one keynote talk were carefully reviewed and selected from 52 submissions. The regular papers are organized in topical sections on organic and autonomic computing, trusted computing, wireless sensor networks, and trust.
Aerial Vehicles
| Author | : T. M. Lam |
| Publisher | : BoD – Books on Demand |
| Total Pages | : 782 |
| Release | : 2009-01-01 |
| Genre | : Technology & Engineering |
| ISBN | : 9537619419 |
This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space.
Distributed Consensus in Multi-vehicle Cooperative Control
| Author | : Wei Ren |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 315 |
| Release | : 2007-10-27 |
| Genre | : Technology & Engineering |
| ISBN | : 1848000154 |
Assuming only neighbor-neighbor interaction among vehicles, this monograph develops distributed consensus strategies that ensure that the information states of all vehicles in a network converge to a common value. Readers learn to deal with groups of autonomous vehicles in aerial, terrestrial, and submarine environments. Plus, they get the tools needed to overcome impaired communication by using constantly updated neighbor-neighbor interchange.
Cooperative Control of Dynamical Systems
| Author | : Zhihua Qu |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 335 |
| Release | : 2009-02-07 |
| Genre | : Technology & Engineering |
| ISBN | : 1848823258 |
Stability theory has allowed us to study both qualitative and quantitative properties of dynamical systems, and control theory has played a key role in designing numerous systems. Contemporary sensing and communication n- works enable collection and subscription of geographically-distributed inf- mation and such information can be used to enhance signi?cantly the perf- manceofmanyofexisting systems. Throughasharedsensing/communication network,heterogeneoussystemscannowbecontrolledtooperaterobustlyand autonomously; cooperative control is to make the systems act as one group and exhibit certain cooperative behavior, and it must be pliable to physical and environmental constraints as well as be robust to intermittency, latency and changing patterns of the information ?ow in the network. This book attempts to provide a detailed coverage on the tools of and the results on analyzing and synthesizing cooperative systems. Dynamical systems under consideration can be either continuous-time or discrete-time, either linear or non-linear, and either unconstrained or constrained. Technical contents of the book are divided into three parts. The ?rst part consists of Chapters 1, 2, and 4. Chapter 1 provides an overview of coope- tive behaviors, kinematical and dynamical modeling approaches, and typical vehicle models. Chapter 2 contains a review of standard analysis and design tools in both linear control theory and non-linear control theory. Chapter 4 is a focused treatment of non-negativematrices and their properties,multipli- tive sequence convergence of non-negative and row-stochastic matrices, and the presence of these matrices and sequences in linear cooperative systems.
