An Intelligent Cooperative Control Architecture
Name
iCCA_Submitted.pdf
Description
iCCA, submitted to ACC 2010
Size
224 KB
Format
Adobe PDF
Checksum (MD5)
c91f026d2b9cbc09b184c690dcc653b2
Author(s)
How, Jonathan
Choi, Han-Lim
Undurti, Aditya
Redding, Joshua
Date Issued
October 7, 2009
Publisher
AIAA
Series/Report no.
ACC;2010-Redding
Abstract
This paper presents an extension of existing cooperative control algorithms that have been developed for multi-UAV applications to utilize real-time observations and/or performance metric(s) in conjunction with learning methods to generate a more intelligent planner response. We approach this issue from a decentralized
cooperative control perspective and embed elements of feedback control
and active learning, resulting in an new intelligent Cooperative Control Architecture (iCCA). We describe this architecture, discuss some of the issues that must be addressed, and present illustrative examples of cooperative control problems where iCCA can be applied effectively.
Subjects
multiagent learning
intelligent control
Cooperative Control
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Aerospace Controls Laboratory
Persistent DSpace Link
