Cooperation and Autonomy in Communication Limited Environments
Technical Report,01 Oct 2015,30 Sep 2018
University of Illinois Urbana-Champaign United States
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A framework is developed that offers novel distributed trajectory-planning and online time-critical coordination capabilities for a fleet of cooperating vehicles that communicate over a lossy wireless network. A distributed algorithm is developed that balances the trajectory-planning workload among all agents in the fleet. The resulting algorithm combines tools from nonlinear optimization and distributed programming, and leverages the polynomial structure of the trajectories and the differential flatness property of the system dynamics to compute the sub-differential analytically. As compared to the existing bundle methods the computational cost is significantly reduced. Regarding time-critical coordination, the temporal specifications and the coordination capabilities of the vehicles have been broadened significantly to accommodate the diversity of constraints required in realistic missions of interest to defense operations. The distributed time-critical coordination law lets the vehicles adjust their speed in real time to meet the desired temporal and coordination constraints in the presence of external disturbances. This research introduced anew classification of these constraints that has led to significant improvement inflexibility, agility and adaptability of the planned missions.
- Surface Transportation and Equipment
- Radio Communications