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Cooperative and Autonomous Mobile Robotics Extend human capabilities: –Perform tasks faster –Perform tasks more safely –Perform tasks more economically –Extend reach to new tasks, e.g.: Tasks that are distributed: –Spatially –Temporally –Functionally Tasks that are “out of reach” of humans –Military: Denied areas –Space: Planetary exploration –DOE: Hazardous waste sites Real world applications.
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Global Hybrid Control and Cooperative Mobile Robotics
Yi Guo
Center for Engineering Science Advanced Research Computer Science and Mathematics Division
Oak Ridge National Laboratory
[email protected]://saturn.epm.ornl.gov/~goa
Global Hybrid Control
• Global control is a further development of modern control towards the capability to handle complex systems.
• Modern control:– Robust control;– Adaptive control;– Nonlinear control;– Fuzzy control.
• Capability: a high-level version of distributed adaptive optimal control which ''swarms'' around the complex system attacking problems as they arise, but keeping a meta-view so that other problems are not ignored while attending to a particular one.
• Large power system applications.
x f(x,w,z(k); )0 g(x,w,z(k); )
z(k 1) h(x,w,z(k); )
Cooperative and Autonomous Mobile Robotics
• Extend human capabilities:– Perform tasks faster– Perform tasks more safely– Perform tasks more economically– Extend reach to new tasks, e.g.:
• Tasks that are distributed:– Spatially– Temporally– Functionally
• Tasks that are “out of reach” of humans– Military: Denied areas– Space: Planetary exploration– DOE: Hazardous waste sites
• Real world applications.
Multi-Robot Motion Planning
• Challenging problem: computationally expensive, NP hard.• Uncertainties in robot models and environment robust solutions.• Distributed and optimal/sub-optimal algorithms.• Outdoor rough terrain environment, and real time re-planning
capability.