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Multi-vehicle Cooperative Control Raffaello D’Andrea Mechanical & Aerospace Engineering Cornell University. Hierarchical Decomposition Example: RoboCup Concluding Remarks. OUTLINE. Hierarchical Decomposition. Objective: Develop hierarchy-based tools for designing

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Multi-vehicle Cooperative ControlRaffaello D’AndreaMechanical & Aerospace Engineering Cornell University

  • Hierarchical Decomposition

  • Example: RoboCup

  • Concluding Remarks

OUTLINE


Hierarchical decomposition
Hierarchical Decomposition

Objective: Develop hierarchy-based tools for designing

complex, multi-asset systems in uncertain and adversarial

environments

MAIN IDEAS:

  • System level decomposition

  • Bottom up design

  • Simplification of models via relaxations and reduction

  • Propagation of uncertainty to higher levels

  • Adoption of heuristics, coupled with verification


Example robocup
Example: RoboCup

  • International competition: cooperation, adversaries, uncertainty

    • 1997: Nagoya Carnegie Mellon

    • 1998: Paris Carnegie Mellon

    • 1999: Stockholm Cornell

    • 2000: Melbourne Cornell

    • 2001: Seattle

  • Involvement

    • Universities, Research Labs, Companies

Cornell




System level decomposition

ROBOT

ROBOT

K

K

System Level Decomposition

Wheel

velocity

INTELLIGENCE AND CONTROL


Bottom up design

ROBOT

K

Bottom Up Design

Relaxation and Simplified Dynamics:

RobustControl

Design

Restrict possible motions, design low level systemto behave like simplified dynamical model


Mid level control
Mid-Level Control

Trajectory Primitives:

minimum time, minimum energy

minimum time

minimum time


Intelligence and control
Intelligence and Control

DESIRED FINAL POSITIONS ANDVELOCITIES, TIME TO TARGET

DESIRED VELOCITIES

STRATEGY

TRAJECTORYGENERATION

LOCALCONTROL

FEASIBILITY OF REQUESTS

  • Current design:

  • finite state machine

  • Obstacle avoidance: Frazzoli, Feron, Dahleh

  • no adaptation

  • no formal methods


BACK-PASS

PASS-PLAY



Formation flight testbed
Formation Flight Testbed

Use upwash created by neighbouring craft to provide extra lift

MOTIVATION

  • “satellite” type of applications(Wolfe, Chichka and Speyer ‘96)

  • MAVs and UAVs, extend range


Formation flight test bed
Formation Flight test bed

  • 5 wings in low speed wind tunnel

  • roll and translation along y axis


Concluding remarks
Concluding Remarks

Relaxation,

Restriction

1

PERFORMANCE

COMPLEXITY


Robust Control Design

Hierarchical Design

...


Current activities
Current Activities

  • Propagation of uncertainy/mismatch

  • Randomized Algorithms for planning (MIT)

  • Game Theoretic tools (delayed information)

  • Verification

  • Human in the loop

  • New test-beds


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