Cooperative Systems (eBook)

Control and Optimization

Don Grundel, Robert Murphey, Panos Pardalos, Oleg Prokopyev (Herausgeber)

eBook Download: PDF

2007
X, 403 Seiten
Springer Berlin (Verlag)
978-3-540-48271-0 (ISBN)

Infos

Because of the clearly important role cooperative systems play in areas such as military sciences, biology, communications, robotics, and economics, just to name a few, the study of cooperative systems has intensified. This book provides an insight in the basic understanding of cooperative systems as well as in theory, modeling, and applications of cooperative control, optimization and related problems.

Inhalt

Preface 5
Contents 7
Optimally Greedy Control of Team Dispatching Systems 10
1 Introduction 10
2 Framework and Problem Formulation 12
3 Performance Under Oversubscription 17
4 Optimally Greedy Dispatching 20
5 Applications 23
6 Conclusions 25
References 25
A Proofs 26
Heuristics for Designing the Control of a UAV Fleet With Model Checking 29
1 Introduction 29
2 Background 30
3 Heuristics 32
4 Necessary Pursuer Qualities for Simple Game Variants 39
5 Conclusions and Future Work 43
References 44
Unmanned Helicopter Formation Flight Experiment for the Study of Mesh Stability 45
1 Introduction 45
2 Background 46
3 Experimental Setup 50
4 Results 55
5 Discussion of Results 57
6 Conclusion 63
Acknowledgments 63
References 63
Cooperative Estimation Algorithms Using TDOA Measurements 65
1 Introduction 65
2 Measurements from Signals of Opportunity 66
3 Using Measurements from Signals of Opportunity 68
4 Conclusion 73
5 Disclaimer 73
References 74
A Comparative Study of Target Localization Methods for Large GDOP 75
1 Introduction 75
2 Background 76
3 AOA Triangulation Algorithm 80
4 Angle-Rate Algorithm 81
5 Algorithm Comparison 83
6 Conclusions and Future Work 85
References 86
Leaderless Cooperative Formation Control of Autonomous Mobile Robots Under Limited Communication Range Constraints 87
1 Introduction 87
2 Problem Formulation 89
3 Leaderless Cooperative Control Design 94
4 Simulation 103
5 Conclusion 108
References 110
Alternative Control Methodologies for Patrolling Assets With Unmanned Air Vehicles 113
1 Introduction 113
2 Related Works 114
3 Methods 115
4 Conclusions and Future Work 121
References 122
A Grammatical Approach to Cooperative Control 124
1 Introduction 124
2 Related Work 125
3 Systems and Graphs 126
4 Propositions About Graphs 131
5 Macrostates 132
6 Reasoning About Graph Grammars 134
7 Simulation Results 140
8 Discussion 144
References 144
A Distributed System for Collaboration and Control of UAV Groups: Experiments and Analysis 146
1 Introduction 147
2 Mission Plan 148
3 Mission State Estimates 150
4 Agents 152
5 Simulation 155
6 Example Mission Simulation 158
7 Conclusions and Future Work 161
References 162
Consensus Variable Approach to Decentralized Adaptive Scheduling 164
1 Introduction 164
2 Consensus Variables 165
3 Synchronized Strike Application 167
4 System Architecture 171
5 Concluding Comments 172
References 175
A Markov Chain Approach to Analysis of Cooperation in Multi- Agent Search Missions 177
1 Introduction 177
2 Cooperative Search 179
3 Bi-level Cooperative Search Model 185
Conclusions 190
References 190
A Markov Analysis of the Cueing Capability/ Detection Rate Trade-space in Search and Rescue 191
1 Introduction 191
2 Approach 192
3 Results 197
4 Summary 201
References 201
Challenges in Building Very Large Teams 203
1 Intro 203
2 Problem Description 206
3 Algorithms 210
4 Synergies Between Algorithms 214
5 Human-in-the-Loop 215
6 Implementation 218
7 Results 219
8 Related Work 227
9 Conclusions and Future Work 230
Acknowledgements 230
References 230
Model Predictive Path-Space Iteration for Multi- Robot Coordination 235
1 Introduction 235
2 Mathematical Preliminaries 237
3 Centralized MPC/Path-space Iteration 242
4 Decentralized MPC/Path-space Iteration 251
5 Conclusions 255
6 Acknowledgments 257
References 257
Path Planning for a Collection of Vehicles With Yaw Rate Constraints 260
1 Introduction 260
2 Problem Setting 262
3 Resource Allocation Problem 264
4 Single Vehicle Path Planning 264
5 Multiple Vehicle Path Planning 265
6 Conclusions and Future Directions of the Current Work 271
7 Acknowledgements 271
References 271
Estimating the Probability Distributions of Alloy Impact Toughness: a Constrained Quantile Regression Approach 274
1 Introduction 274
2 Estimating the Quantile Function With Constrained Quantile Regression 275
3 Case Study: Estimating the Impact Toughness Distribution of Steel Alloys 278
4 Summary 279
References 280
A Substantiation of the Unimodality Constraints 281
B Histograms for Selected Distributions of log CVN at-84.C 283
A One-Pass Heuristic for Cooperative Communication in Mobile Ad Hoc Networks 289
1 Introduction 289
2 Problem Statement 291
3 Previous Work 292
4 Construction Heuristic 293
5 Local Search Heuristic 295
6 Combining Algorithms into a One-Pass Heuristic 296
7 Computational Results 297
8 Conclusions and Future Research 298
Acknowledgments 299
References 299
Mathematical Modeling and Optimization of Superconducting Sensors with Magnetic Levitation 301
1 Introduction 301
2 Stability and Levitation 303
3 Dynamics of Magnetically Levitated Systems 305
4 Optimal Synthesis of Chaotic Dynamics 315
5 Chaotic Dynamics of the Levitated Probe 317
6 Nonlinear Dynamics and Chaos 318
7 Conclusions 319
References 320
Stochastic Optimization and Worst– case Decisions 321
1 Introduction 321
2 The Minimax Approach 322
3 Macroeconomics Policy Making 324
4 Financial Portfolio Management 329
5 Conclusions 340
Acknowledgments 342
References 342
Decentralized Estimation for Cooperative Phantom Track Generation 343
1 Introduction 343
2 One-On-One Problem 344
3 Team Decision Problem 346
4 Estimation-Decision Process 350
5 Conclusions 352
References 353
Information Flow Requirements for the Stability of Motion of Vehicles in a Rigid Formation 355
1 Introduction 356
2 Problem Formulation for a String of Vehicles Traveling Along a Straight Line 358
3 Simulations 367
4 Conclusions 368
References 371
Formation Control of Nonholonomic Mobile Robots Using Graph Theoretical Methods 372
1 Introduction 372
2 Graph Theory 374
3 Problem Statement 375
4 Controller Design 376
5 Illustrative Examples 383
6 Conclusion 386
References 387
Comparison of Cooperative Search Algorithms for Mobile RF Targets Using Multiple Unmanned Aerial Vehicles 390
1 Introduction 390
2 Cooperative Control Algorithm I 391
3 Cooperative Control Algorithm II 396
4 Results 400
5 Conclusion and Future Work 402
References 406

Produkt-Details

• Erscheint lt. Verlag: 21.3.2007
• Reihe/Serie: Lecture Notes in Economics and Mathematical Systems
• Reihe/Serie: Lecture Notes in Economics and Mathematical Systems
• Zusatzinfo: X, 403 p. 173 illus.
• Verlagsort: Berlin
• Sprache: englisch
• Themenwelt: Mathematik / Informatik ► Mathematik
• Themenwelt: Technik
• Themenwelt: Wirtschaft ► Allgemeines / Lexika
• Themenwelt: Wirtschaft ► Betriebswirtschaft / Management ► Planung / Organisation
• Themenwelt: Wirtschaft ► Volkswirtschaftslehre
• Schlagworte: algorithms • Communication • Cooperative Systems • Environment • linear optimization • Markov Chain • Modeling • Network • Operations Research • optimal control • Optimization • robot • Robotics • Scheduling • stochastic optimization • System
• ISBN-10: 3-540-48271-7 / 3540482717
• ISBN-13: 978-3-540-48271-0 / 9783540482710