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Global Hybrid Control and Cooperative Mobile Robotics

Global Hybrid Control and Cooperative Mobile Robotics. Yi Guo Center for Engineering Science Advanced Research Computer Science and Mathematics Division Oak Ridge National Laboratory guoy@ornl.gov http://saturn.epm.ornl.gov/~goa. Global Hybrid Control.

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Global Hybrid Control and Cooperative Mobile Robotics

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  1. Global Hybrid Control and Cooperative Mobile Robotics Yi Guo Center for Engineering Science Advanced Research Computer Science and Mathematics Division Oak Ridge National Laboratory guoy@ornl.gov http://saturn.epm.ornl.gov/~goa

  2. 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.

  3. 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.

  4. 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.

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