Recent Research in Cooperative Control of Multivehicle Systems

This paper presents a survey of recent research in cooperative control of multivehicle systems, using a common mathematical framework to allow different methods to be described in a unified way. The survey has three primary parts: an overview of current applications of cooperative control, a summary of some of the key technical approaches that have been explored, and a description of some possible future directions for research. Specific technical areas that are discussed include formation control, cooperative tasking, spatiotemporal planning, and consensus.

[1]  Domitilla Del Vecchio Discrete dynamic feedback for a class of hybrid systems on a lattice , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[2]  David S Alberts,et al.  Network Centric Warfare , 2000 .

[3]  R. D'Andrea,et al.  The RoboFlag competition , 2003, Proceedings of the 2003 American Control Conference, 2003..

[4]  Lynne E. Parker Designing control laws for cooperative agent teams , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[5]  C.J.H. Mann,et al.  Control in an Information Rich World , 2004 .

[6]  William B. Dunbar,et al.  Distributed receding horizon control for multi-vehicle formation stabilization , 2006, Autom..

[7]  James G. Bellingham Autonomous Ocean Sampling Networks , 2006 .

[8]  R. Murray,et al.  A framework for Lyapunov certificates for multi-vehicle rendezvous problems , 2004, Proceedings of the 2004 American Control Conference.

[9]  P.R. Lawson The Terrestrial Planet Finder , 2001, 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542).

[10]  Eugene Lavretsky,et al.  F/A-18 AUTONOMOUS FORMATION FLIGHT CONTROL SYSTEM DESIGN , 2002 .

[11]  Petter Ögren,et al.  Cooperative control of mobile sensor networks:Adaptive gradient climbing in a distributed environment , 2004, IEEE Transactions on Automatic Control.

[12]  Richard M. Murray,et al.  On a stochastic sensor selection algorithm with applications in sensor scheduling and sensor coverage , 2006, Autom..

[13]  Lynne E. Parker,et al.  Current State of the Art in Distributed Autonomous Mobile Robotics , 2000 .

[14]  D. P. Schrage,et al.  Software-enabled control for intelligent UAVs , 1999, Proceedings of the 1999 IEEE International Symposium on Computer Aided Control System Design (Cat. No.99TH8404).

[15]  Bayu Jayawardhana,et al.  IFAC World Congress 2005 , 2005 .

[16]  Eric Klavins A Formal Model of a Multi-Robot Control and Communication Task , 2003 .

[17]  Max Donath,et al.  American Control Conference , 1993 .

[18]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[19]  David E. Jeffcoat,et al.  Analysis of dynamic sensor coverage problem using Kalman filters for estimation , 2005 .

[20]  T. Shima,et al.  Branch and bound tree search for assigning cooperating UAVs to multiple tasks , 2006, 2006 American Control Conference.

[21]  Richard M. Murray,et al.  Stability and performance analysis with double-graph model of vehicle formations , 2003, Proceedings of the 2003 American Control Conference, 2003..

[22]  Richard M. Murray,et al.  Panel on Future Directions in Control, Dynamics, and Systems , 2000 .

[23]  A. Czirók,et al.  Collective Motion , 1999, physics/9902023.

[24]  Reza Olfati-Saber,et al.  Flocking for multi-agent dynamic systems: algorithms and theory , 2006, IEEE Transactions on Automatic Control.

[25]  Richard M. Murray,et al.  Distributed algorithms for cooperative control , 2004, IEEE Pervasive Computing.

[26]  唐秀玲 网络中心战如何提供作战能力:《Network Centric Warfare》摘编 , 1999 .

[27]  Richard M. Murray,et al.  Information flow and cooperative control of vehicle formations , 2004, IEEE Transactions on Automatic Control.

[28]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[29]  Richard M. Murray,et al.  Distributed Computation for Cooperative Control , 2003 .

[30]  Sonia Martínez,et al.  Coverage control for mobile sensing networks , 2002, IEEE Transactions on Robotics and Automation.

[31]  Raffaello D'Andrea,et al.  Multi-Vehicle Cooperative Control Using Mixed Integer Linear Programming , 2005, ArXiv.

[32]  S. Shankar Sastry,et al.  Conflict resolution for air traffic management: a study in multiagent hybrid systems , 1998, IEEE Trans. Autom. Control..

[33]  Tsu Chin,et al.  California Partners for Advanced Transit and Highways (PATH) , 2004 .

[34]  Richard M. Murray,et al.  Coordinated control for networked multi-agent systems , 2007 .

[35]  蛯原 義雄 American Control Conference 2004 , 2004 .

[36]  A. Smith,et al.  Terrestrial Planet Finder , 2004 .

[37]  Naomi Ehrich Leonard,et al.  Collective Motion, Sensor Networks, and Ocean Sampling , 2007, Proceedings of the IEEE.

[38]  Tal Shima,et al.  Multiple task assignments for cooperating uninhabited aerial vehicles using genetic algorithms , 2006, Comput. Oper. Res..

[39]  Steven L. Waslander,et al.  The Stanford testbed of autonomous rotorcraft for multi agent control (STARMAC) , 2004, The 23rd Digital Avionics Systems Conference (IEEE Cat. No.04CH37576).

[40]  J. Davenport Editor , 1960 .

[41]  Raktim Bhattacharya,et al.  Cone invariance and rendezvous of multiple agents , 2009 .

[42]  Lynne E. Parker,et al.  ALLIANCE: an architecture for fault tolerant multirobot cooperation , 1998, IEEE Trans. Robotics Autom..

[43]  Richard M. Murray,et al.  Stability analysis of stochastically varying formations of dynamic agents , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[44]  Richard M. Murray,et al.  DISTRIBUTED COOPERATIVE CONTROL OF MULTIPLE VEHICLE FORMATIONS USING STRUCTURAL POTENTIAL FUNCTIONS , 2002 .

[45]  E. Campbell,et al.  Establishing Trajectories for Multi-Vehicle Reconnaissance , 2004 .

[46]  J. Hedrick,et al.  String stability of interconnected systems , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[47]  Naomi Ehrich Leonard,et al.  Virtual leaders, artificial potentials and coordinated control of groups , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[48]  Hiroaki Kitano,et al.  RoboCup: The Robot World Cup Initiative , 1997, AGENTS '97.

[49]  Phillip R. Chandler,et al.  UAV Task Assignment with Timing Constraints , 2003 .

[50]  R.M. Murray,et al.  Receding horizon control of multi-vehicle formations: a distributed implementation , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[51]  Phillip R. Chandler,et al.  UAV cooperative control , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[52]  R.M. Murray,et al.  Double-graph control strategy of multi-vehicle formations , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[53]  Richard M. Murray,et al.  Discrete state estimators for systems on a lattice , 2006, Autom..

[54]  R.M. Murray,et al.  The Caltech Multi-Vehicle Wireless Testbed , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[55]  Kevin Wise Control in an Information Rich World , 2001 .

[56]  Jonathan P. How,et al.  COORDINATION AND CONTROL OF MULTIPLE UAVs , 2002 .

[57]  S. Shankar Sastry,et al.  A flight control system for aerial robots: algorithms and experiments , 2002 .

[58]  W ReynoldsCraig Flocks, herds and schools: A distributed behavioral model , 1987 .

[59]  A. Stubbs,et al.  A hovercraft testbed for decentralized and cooperative control , 2004, Proceedings of the 2004 American Control Conference.