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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 guoy@ornl.gov http://saturn.epm.ornl.gov/~goa. Global Hybrid Control.
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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 guoy@ornl.gov http://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.
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.