Cooperative Control

by Butenko, Sergiy; Murphey, Robert; Pardalos, Panos M.

• ISBN13: 9781402010828
• ISBN10: 1402010826
• Format: Hardcover
• Copyright: 2003-04-01
• Publisher: Kluwer Academic Pub

Summary

A cooperative system is a collection of dynamical objects, which communicate and cooperate in order to achieve a common or shared objective. The cooperation of entities is achieved through communication; either explicitly by message passing, or implicitly via observation of another entities' state. As in natural systems, cooperation may assume a hierarchical form and the control processes may be distributed or decentralized. Due to the dynamic nature of individuals and the interaction between them, the problems associated with cooperative systems typically involve many uncertainties. Moreover, in many cases cooperative systems are required to operate in a noisy or hazardous environment, which creates special challenges for designing the control process. During the last decades, considerable progress has been observed in all aspects regarding the study of cooperative systems including modeling of cooperative systems, resource allocation, discrete event driven dynamical control, continuous and hybrid dynamical control, and theory of the interaction of information, control, and hierarchy. Solution methods have been proposed using control and optimization approaches, emergent rule based techniques, game theoretic and team theoretic approaches. Measures of performance have been suggested that include the effects of hierarchies and information structures on solutions, performance bounds, concepts of convergence and stability, and problem complexity. These and other topics were discusses at the Second Annual Conference on Cooperative Control and Optimization in Gainesville, Florida. Refereed papers written by selected conference participants from the conference are gathered in this volume, which presents problem models, theoretical results, and algorithms for various aspects of cooperative control. Audience: The book is addressed to faculty, graduate students, and researchers in optimization and control, computer sciences and engineering.

Table of Contents

Preface	xi
N-Ocular Volume Holographic Imaging	1	(22)
George Barbastathis
Arnab Sinha
Hybrid Imaging	2	(2)
Principles of Volume Holographic Imaging	4	(5)
Volume Diffraction Theory	9	(6)
Telescopic Imaging with Cooperative Volume Holographic Sensors	15	(5)
Conclusions and Ongoing Work	20	(3)
Multi-Task Allocation and Path Planning for Cooperating UAVs	23	(20)
John Bellingham
Michael Tillerson
Arthur Richards
Jonathan P. How
Introduction	24	(3)
Problem Formulation	27	(1)
Algorithm Overview	28	(2)
Finding Feasible Permutations and Associated Costs	30	(2)
Task Allocation	32	(3)
Reaction to Dynamic Environment	35	(1)
Simulations	36	(3)
Conclusions	39	(4)
On the Construction of Virtual Backbone for Ad Hoc Wireless Network	43	(12)
Sergiy Butenko
Xiuzhen Cheng
Ding-Zhu Du
Panos M. Pardalos
Introduction	44	(2)
Preliminaries	46	(1)
An 8-Approximate Algorithm to Compute CDS	47	(3)
Simulation	50	(1)
Conclusion	51	(4)
Control Graphs for Robot Networks	55	(20)
Aveek Das
Rafael Fierro
Vijay Kumar
Introduction	56	(1)
Formation Model	57	(2)
Stability	59	(5)
Choice of Control Graphs	64	(6)
Discussion	70	(1)
Conclusions	70	(5)
Search, Classification and Attack Decisions	75	(20)
David R. Jacques
Introduction	75	(1)
The Single Munition/Single Target Case	76	(2)
The Single Munition/Multiple Target Case	78	(2)
Analytic Multi-Munition Extensions	80	(5)
Implications for Cooperative Behavior	85	(6)
Conclusions	91	(4)
Path Planning for Unmanned Aerial Vehicles in Uncertain and Adversarial Environments	95	(16)
Myungsoo Jun
Raffaello D'Andrea
Introduction	96	(1)
Graph Theory	97	(1)
Probability Map	98	(1)
Problem Formulation	99	(1)
Conversion to a Shortest Path Problem	100	(2)
UAV Path Planning	102	(2)
Multiple UAVs	104	(1)
Simulation	105	(3)
Discussion and Future Research	108	(3)
Automatically Synthesized Controllers for Distributed Assembly	111	(18)
Eric Klavins
Introduction	111	(2)
The Problem	113	(3)
Compilation of Assembly Rules from Specifications	116	(4)
Implementation of Assembly Rules	120	(2)
Partial Correctness of the Assembly Process	122	(3)
Conclusion	125	(4)
The Search for the Universal Concept of Complexity and a General Optimality Condition of Cooperative Agents	129	(36)
Victor Korotkich
Introduction	129	(5)
Sequences and Integer Code Series	134	(2)
Structural Numbers of Sequences and their Geometrical Interpretation	136	(2)
Structural Numbers and Integer Relations	138	(3)
Integer Patterns: Geometrical Meaning of the Integer Relations and their Formations	141	(4)
Isomorphism between Hierarchical Formations of Integer Relations and Integer Patterns	145	(4)
The Hierarchical Formations as a Final Theory	149	(2)
Structural Complexity	151	(2)
On General Optimality Condition of Agents Best Performance	153	(1)
Representation of Fitness Landscapes in terms of Structural Complexity	154	(2)
A General Optimality Condition of Cooperative Agents	156	(4)
Conclusions	160	(5)
Robust Decision Making: Addressing Uncertainties In Distributions	165	(22)
Pavlo Krokhmal
Robert Murphey
Panos Pardalos
Stanislav Uryasev
Grigory Zrazhevski
Introduction	166	(1)
The General Approach	167	(4)
Example: Stochastic Weapon-Target Assignment Problem	171	(7)
Numerical Results	178	(5)
Conclusions	183	(1)
Appendix. Formal Definition of CVaR	183	(4)
Network-Centric MFA Tracking Architectures	187	(28)
Suihua Lu
Aubrey B. Poore
Tracking and Communication Architecture	190	(13)
Simulation Results: Comparisons and Discussions	203	(8)
Future Directions of Research and Recommendations	211	(4)
Technologies Leading to Unified Multi-Agent Collection and Coordination	215	(38)
Ronald Mahler
Ravi Prasanth
Introduction	216	(8)
Approach: Multi-Agent Coordination	224	(9)
Approach: Multi-Agent Collection	233	(13)
Conclusions	246	(7)
Optimal Trajectories for Cooperative Classification	253	(30)
Meir Pachter
Jeffrey Hebert
Optimal Look Angles for ATR	253	(4)
Optimal Angular Separation for Second Look	257	(4)
Minimum Time Trajectories with a Minimum Turning Radius Constraint	261	(8)
Minimum Time Trajectories for Target Classification	269	(7)
Cooperative Target Classification	276	(3)
Conclusion	279	(4)
Cooperative Control Design for Uninhabited Air Vehicles	283	(40)
Marios Polycarpou
Yanli Yang
Yang Liu
Kevin Passino
Introduction	284	(3)
Cooperative Control Formulation	287	(8)
On-Line Cooperation by Distributed Agents	295	(6)
Simulation Results	301	(7)
Stability Analysis of Swarms	308	(7)
Concluding Remarks	315	(8)
Coupling in UAV Cooperative Control	323	(26)
Corey J. Schumacher
Phillip R. Chandler
Meir Pachter
Introduction	324	(2)
Sub-Teams	326	(3)
Single Assignment	329	(3)
Multiple Assignment	332	(10)
Simulation Results	342	(4)
Conclusions	346	(3)
Optimal Adaptive Target Shooting with Imperfect Feedback Systems	349	(1)
Samuel S. Wu
Zuo-Jun Max Shen
Mark C. K. Yang
Introduction	350	(2)
Posterior Intact Probability	352	(1)
Best Myopic Strategy	353	(2)
Comparison of Two Imperfect Feedback Systems	355	(7)
Discussions	362