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Cooperative Networked Control of Dynamical Peer-to-Peer Vehicle Systems

Cooperative Networked Control of Dynamical Peer-to-Peer Vehicle Systems. Geir E. Dullerud University of Illinois UIUC, MIT, Stanford, UCSB, UCLA MURI: 3-Year Review June 22, 2005 Sponsored by DDR&E and AFOSR Program manager Lt Col Sharon Heise. Schedule. OPENING SESSION Chair: Dullerud

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Cooperative Networked Control of Dynamical Peer-to-Peer Vehicle Systems

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  1. Cooperative Networked Control of Dynamical Peer-to-Peer Vehicle Systems Geir E. Dullerud University of Illinois UIUC, MIT, Stanford, UCSB, UCLA MURI: 3-Year Review June 22, 2005 Sponsored by DDR&E and AFOSR Program manager Lt Col Sharon Heise

  2. Schedule OPENING SESSION Chair: Dullerud • Opening Remarks.Fariba Fahroo and Sharon Heise • 8:30 Overview and Introduction. Geir Dullerud, UIUC • 8:50 The Role of Scale in Multi-Robot Systems. Emilio Frazzoli, UCLA • 9:15 Distributed Multi-Hop Clock Synchronization. PR Kumar, UIUC • 9:40 Approximate Dynamic Programming for Multi-Agent Systems. Sanjay Lall, Stanford • 10:05 BREAK

  3. Schedule (cont) SECOND SESSION Chair: Lall • 10:20Control and Communication Laws in Robotic Networks. Francesco Bullo, UCSB • 10:45Transmission Scheduling with Service Guarantees. Eytan Modiano, MIT • 11:10 Learning and Randomization in Formal Verification. Mahesh Viswanathan, UIUC • 11:35Semialgebraic Games. Pablo Parrilo, MIT • 12:00LUNCH

  4. Schedule (cont) THIRD SESSION Chair: Lynch • 1:15 Nascent Technology Cooperative UAV Platform. Andrew Stubbs, Nascent • 1:30 Verification of Hybrid Control Algorithms. Daniel Liberzon, UIUC • 1:55 Secure Wireless Networking. Anupum Datta and John Mitchell, Stanford • 2:20 Virtual Nodes for ad hoc Mobile Networks. Nancy Lynch, MIT • 2:45BREAK

  5. Schedule (cont) CLOSING SESSION Chair: Dullerud • 3:00 Multi-agent Exploration and Routing Problems. Eric Feron, MIT • 3:25 Interaction of Control and Communication: Beyond Shannon. Abdol-Reza Mansouri and Sanjoy Mitter, MIT • 3:50 Summary. Geir Dullerud, UIUC • 4:00GOVERNMENT CAUCUS • ADJOURN

  6. Accomplishments Overview Very significant advances • Cooperative Robotics • vision-based coverage algorithms; transitions • spatial queuing • exploration and consensus problems • congestion, safety and scale • testbeds • Wireless for Multi-vehicle Systems • QoS guarantees • delay adaptive routing • distributed synchronization • tradeoffs: latency and throughput • secure protocols

  7. Accomplishments Overview(cont) • Formal Verification • improvement of TIOA, PIOA, HIOA theory • virtual nodes • results on security • advances in hybrid and stochastic switched systems • learning: verifying liveness and safety • Control Theoretic Advances • Information theory: channel capacity for control • decentralized control and detection of stochastic systems • coding for control • computational advances in SoS and real algebra • semialgebraic games

  8. Research and Transitions Real algebra IOA theory Switching systems Wireless security Anytime capacity Semidefinite programming Resource allocation Deployment and exploration algorithms

  9. AFRL, WPAFB: target allocation; personnel Naval Research Laboratories: proof solvers and implementation Army Laboratories, Natick: development of a scouting capability Draper Laboratory: testbed implementation of protocols and algorithms Boeing: collision avoidance in testbed Honeywell: SoS tools; cooperative control; NSF ERC Scientific Systems: info theory; maneuver language and cooperative algorithms Nascent Technologies: algorithms; UAV platforms Input on AFRL transitioning mechanisms Transition Planning Include:

  10. Many More Publications…. • Anurag Ganguli, Jorge Cortes and Francesco Bullo: Maximizing visibility in nonconvex polygons. American Control Conference, 2005. • Sonia Martinez, Francesco Bullo, Jorge Cortes, and Emilio Frazzoli: On synchronous robotic networks. IEEE Transactions on Automatic Control, submitted 2005. • Savla, Emilio Frazzoli and Francesco Bullo: On the stochastic traveling salesperson problem for Dubins' vehicle” submitted IEEE Conference on Decision and Control, 2005. • Ji-Woong Lee and Geir Dullerud: Dynamic Sequential Team Multi-Hypothesis Testing Under Uniformly Distributed Nonstationary Observations‘, submitted to Systems & Control Letters, 2005. • Ji-Woong Lee and Geir Dullerud: Uniform Stabilization of Discrete-Time Switched and Markovian Jump Linear, conditionally accepted to Automatica, 2005. • V. Kumar and Mahesh Viswanathan: Conformance Testing in the Presence of Multiple Faults, Symposium on Discrete Algorithms (SODA) 2005. • N. Kumar, V. Kumar and M. Viswanathan: On the Complexity of Error Explanation, International Conference on Verification, Model Checking and Abstract Interpretation (VMCAI) 2005. • B. Reznick: On the absence of uniform denominators in Hilbert's 17th Problem. Proceedings of the American Mathematical Society, 2004. • V. Raghunathan and P. R. Kumar: Wardrop routing in wirelessnetworks: From theory to implementation, IEEE INFOCOM 2005. • Jerome Le Ny and Eric Feron: A Multi-agent route exploration problem, submitted IEEE Conference on Decision and Control, 2005. • S. Tatikonda, A. Sahai, and S. Mitter: Stochastic Linear Control with a Communication Channel. IEEE Transactions on Automatic Control, 2004. • Nancy Lynch, Sayan Mitra, and Tina Nolte:Motion coordination using virtual nodes, submitted IEEE Conference on Decision and Control, 2005. • Randy Cogill and Sanjay Lall: Decentralized Stochastic Decision Problems and Polynomial Optimization, American Control Conference, 2005.

  11. Personnel Supported Illinois • 7 graduate students • 1 post-doc MIT • 4 graduate students • 1 post-doc Stanford • 2 graduate students

  12. Researcher Interactions Dullerud Modiano Lall Parrilo Mitchell Feron Frazzoli Kumar Lynch Bullo Liberzon Reznick Viswanathan Mitter

  13. Connections: Kickoff COOPERATIVE NETWORKED CONTROL Dullerud DISTRIBUTED COMPUTING DISTRIBUTED CONTROL Mitchell Lall Automated verfication Uncertainty Lynch ROBUSTNESS analysis Frazzoli Semantics Dynamical Liberzon and language systems MODELS INTERFACES Feron Viswanathan Randomized Semidefinite algorithms programming ALGORITHMS Bullo Combinatorial Semialgebraic Kumar optimization methods Reznick Network topology Information theory GEOMETRY and protocols and feedback Abounadi Modiano Mitter

  14. Connections: Now COOPERATIVE NETWORKED CONTROL Dullerud DISTRIBUTED COMPUTING DISTRIBUTED CONTROL Mitchell Lall Automated verfication Uncertainty Lynch ROBUSTNESS analysis Frazzoli Semantics Dynamical Liberzon and language systems MODELS INTERFACES Feron Viswanathan Randomized Semidefinite algorithms programming ALGORITHMS Bullo Combinatorial Semialgebraic Kumar optimization methods Reznick Network topology Information theory GEOMETRY and protocols and feedback Parrilo Modiano Mitter

  15. Area Interactions Lall Liberzon Reznick Lynch Control & Information Theory Computing & Verification Liberzon Frazzoli Dullerud Feron Bullo Frazzoli Lynch Robotic Vehicles Kumar Lynch Mitchell Kumar Lall Mitter Kumar Lynch Communications

  16. Website http://legend.me.uiuc.edu/dullerud

  17. Cooperative Networked Control of Dynamical Peer-to-Peer Vehicle Systems Geir E. Dullerud University of Illinois UIUC, MIT, Stanford, UCSB, UCLA MURI: 3-Year Review June 22, 2005 Sponsored by DDR&E and AFOSR Program manager Lt Col Sharon Heise

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