Optimization and Systems Theory Seminar
Thursday, June 27, 1999, 15.00-16.00, Room 3721, Lindstedtsvägen 25
Professor Shankar
Sastry
University of California, Berkeley, CA
USA
Algorithms for the design of distributed, multi-agent control systems
At Berkeley we have been interested in design schemes for network of
complex networks of semi-autonomous agents. These networks are
characterized by interaction between discrete decision making and
continuous control. The control of such systems is often frequently
organized in hierarchical fashion to obtain a logarithmic decrease in
complexity associated with the design, We have used as examples three
classes of systems to motivate the design approach:
- Intelligent Vehicle Highway Systems (IVHS)
- Air Traffic Management Systems (ATMS)
- Unmanned Aerial Vehicles
Over the last five years or so, a group of us have developed a set of
design approaches which are aimed at designing control schemes which
are live, deadlock free, and ``safe''. Our design methodology is to be
considered an alternative to the verification based approaches to
hybrid control systems design, and is an interesting blend of game
theoretic ideas, fault handling in a probabilistic framework,
mathematical and temporal logic and planning ideas from robotics. In
these talks, we will focus on design problems involved in coordinating
groups of Unmanned Aerial Vehicles (UAVs). Problems to be addressed
include:
- Rapid prototyping of real time control laws: a hybrid systems
design and simulation environment.
- Mode Switching and envelope protection.
- Vision based control for navigation.
- Mission planning for multi-UAV missions.
The work is joint with (in alphabetical order) Datta Godbole, Joao Hespanha,
Hyoun Jin Kim, John Koo, John Lygeros, Omid Shakernia, David Shim, and
Claire Tomlin.
Calendar of seminars
Last update: June 1, 1999 by
Anders Forsgren,
anders.forsgren@math.kth.se.