An intelligent cooperative control architecture
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How_An intelligent.pdf
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Author(s)
Redding, Josh
Geramifard, Alborz
Undurti, Aditya
Choi, Han-Lim
How, Jonathan P.
Date Issued
July 2010
Journal
Proceedings of the American Control Conference, 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Redding, J. et al. “An intelligent Cooperative Control Architecture.” American Control Conference (ACC), 2010. 2010. 57-62. © Copyright 2010 IEEE
Version
Final published version
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 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.
MIT Department
Massachusetts Institute of Technology. Aerospace Controls Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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