This paper describes a multi-vehicle motion control framework for time-critical cooperative missions and evaluates its performance by considering two case studies: a simultaneous arrival mission scenario and a sequential auto-landing of a fleet of UAVs. In the adopted setup, the UAVs are assigned nominal spatial pathsand speed profiles along those, and the vehicles are then tasked to execute cooperative path following, rather than open-loop trajectory-tracking maneuvers. This cooperative...
Topics: DTIC Archive, Kaminer,Isaac, Naval Postgraduate School Monterey United States, case studies,...
We demonstrate the effectiveness of behavior-based control in facilitating the development and evaluation of multi-robot controllers that are: (1) robust to robot failures, and(2) easily modified to facilitate development of the controller variation that sufficiently satisfies the design requirements for the task. Our experimental focus here is distributed multi-robot collection, a class of tasks that includes de-mining and toxic waste clean-up. We demonstrate a basic multi-robot controller for...
Topics: DTIC Archive, Goldberg,Dani, University of Southern California Los Angeles United States, robots,...
Small unmanned systems provide great utility to military applications due to their portable and expendable design. These systems are, however, costly to develop, produce, and maintain, making it desirable to integrate available commercial off the shelf (COTS) components. This research investigates the integration of COTS components through the development of a modular unified command and control (C2) architecture for heterogeneous and homogeneous vehicle teams to accomplish formation flocking...
Topics: DTIC Archive, Gray,Jeremy, Air Force Institute of Technology Wright-Patterson AFB United States,...
There is a perceived problem in Marine Corps tactical units regarding technological advancements and cognitive load; specifically, the almost infinite flow of new information on the modern battlefield is overtaxing the human brain. The development of Unmanned Tactical Autonomous Control and Collaboration (UTACC), an alternative warfare concept, could clarify the relationship between technological advancements and cognitive load. UTACCs purpose is to enhance mission accomplishment while...
Topics: DTIC Archive, Rice,Thomas M, NAVAL POSTGRADUATE SCHOOL MONTEREY CA MONTEREY United States, SYSTEMS...
This report covers the first year of research and development for the Intelligent Multi-UxV Planner with Adaptive Collaborative/Control Technologies (IMPACT) program. The goal of IMPACT is to integrate autonomous technologies like cooperative control algorithms, intelligent agents, and autonomics frameworks with human-autonomy interfaces to support effective supervisory control of multiple heterogeneous unmanned vehicles (UxVs) in dynamic operating environments. With IMPACT, the human-autonomy...
Topics: DTIC Archive, Behymer,Kyle, Infoscitex Corp. Beavercreek, unmanned vehicles, algorithms,...
When a human and an intelligent machine work together as a team, human trust can influence performance. Yet, an electrophysiological signature of trust has not been isolated. In order to isolate such a signature, the research team recorded fMRI or event-related potentials while subjects were playing two cognitive games. At the first experiment, human subjects played a theory-of-mind bilateral game with two types of computerized agents: with or without humanlike cues. At the second experiment,...
Topics: DTIC Archive, Lee,Soo-Young, Korea Advanced Institute of Science and Technology Taejon Korea,...
The mission of the Michigan/AFRL Collaborative Center in Control Science (MACCCS) was to establish, sustain and amplify an internationally recognized center of excellence in control science research and education, through interaction between the faculty and students at the participating universities, and AFRL. Concentration areas were: 1. Cooperative Control of Unmanned Air Vehicles (C2UAV): i) design, modeling, analysis and control of flapping wing vehicles for collaborative UAV missions; ii)...
Topics: DTIC Archive, Girard,Anouck, University of Michigan Ann Arbor United States, control systems,...
He Bai, Murat Arcak, John Wen - Cooperative Control Design
Topics: formation, control, design, velocity, agent, agents, desired, adaptive, theorem, passivity,...
This research concerns the development of cooperative control of two spacecraft mounted two-link manipulators as they reposition a common payload. Lagrangian formulation is used to determine the system equations of motion. Lyapunov stability theory is used to develop the cooperative control by using a reference trajectory and reference actuator torques. Polynomial curves represent potential reference trajectories. Numerical methods select specific reference trajectories to minimize the...
Topics: Space Robotics, Cooperative Control, Attitude Control
