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Cooperative Control and Optimization : Applied Optimization - Robert Murphey

Cooperative Control and Optimization

Applied Optimization

By: Robert Murphey (Editor), Panos M. Pardalos (Editor)

Hardcover Published: May 2002
ISBN: 9781402005497
Number Of Pages: 308

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A cooperative system is defined to be multiple dynamic entities that share information or tasks to accomplish a common, though perhaps not singular, objective. Examples of cooperative control systems might include: robots operating within a manufacturing cell, unmanned aircraft in search and rescue operations or military surveillance and attack missions, arrays of micro satellites that form a distributed large aperture radar, employees operating within an organization, and software agents. The term entity is most often associated with vehicles capable of physical motion such as robots, automobiles, ships, and aircraft, but the definition extends to any entity concept that exhibits a time dependent behavior. Critical to cooperation is communication, which may be accomplished through active message passing or by passive observation. It is assumed that cooperation is being used to accomplish some common purpose that is greater than the purpose of each individual, but we recognize that the individual may have other objectives as well, perhaps due to being a member of other caucuses. This implies that cooperation may assume hierarchical forms as well. The decision-making processes (control) are typically thought to be distributed or decentralized to some degree. For if not, a cooperative system could always be modeled as a single entity. The level of cooperation may be indicated by the amount of information exchanged between entities. Cooperative systems may involve task sharing and can consist of heterogeneous entities. Mixed initiative systems are particularly interesting heterogeneous systems since they are composed of humans and machines. Finally, one is often interested in howcooperative systems perform under noisy or adversary conditions. In December 2000, the Air Force Research Laboratory and the University of Florida successfully hosted the first Workshop on Cooperative Control and Optimization in Gainesville, Florida. This book contains selected refereed papers summarizing the participants' research in control and optimization of cooperative systems. Audience: Faculty, graduate students, and researchers in optimization and control, computer sciences and engineering.

Prefacep. xi
Cooperative Control for Target Classificationp. 1
Introductionp. 2
Joint classificationp. 4
Assignmentp. 9
Hierarchical architecturep. 11
Simulationp. 14
Classification issuesp. 15
Conclusionsp. 16
Referencesp. 19
Guillotine Cut in Approximation Algorithmsp. 21
Introductionp. 21
Rectangular partition and guillotine cutp. 22
1-Guillotine cutp. 26
m-Guillotine cutp. 30
Portalsp. 31
Referencesp. 33
Unmanned Aerial Vehicles: Autonomous Control Challenges, A Researcher's Perspectivep. 35
Introductionp. 36
Backgroundp. 36
The Challengesp. 39
How are we approaching these challenges?p. 42
Where are we heading from here?p. 48
Referencesp. 51
Notesp. 53
Optimal periodic stochastic filtering with GRASPp. 55
Introduction and problem statementp. 56
Two interesting particular casesp. 58
Discrete problem formulationp. 65
Numerical resultsp. 68
Referencesp. 71
Cooperative Control of Robot Formationsp. 73
Introductionp. 73
Framework for cooperative controlp. 75
Formation controlp. 76
Trajectory generation using contact dynamics modelsp. 84
Simulation resultsp. 87
Conclusionsp. 88
Referencesp. 91
Cooperative Behavior Schemes for Improving the Effectiveness of Autonomous Wide Area Search Munitionsp. 95
Introductionp. 96
Baseline computer simulationp. 99
Simulation modificationsp. 100
Applied response surface methodologiesp. 107
Results and analysisp. 112
Conclusions and recommendationsp. 118
Referencesp. 119
On a General Framework to Study Cooperative Systemsp. 121
Introductionp. 121
Structural complexityp. 124
Parameter extension of the optimal algorithmp. 127
Critical point in the parameter extension: the optimal algorithmp. 129
Structural complexity of cooperative systems versus optimization problemsp. 131
Conclusionp. 140
Referencesp. 141
Cooperative Multi-agent Constellation Formation Under Sensing and Communication Constraintsp. 143
Introductionp. 144
Group formation by autonomous homogeneous agentsp. 145
The noiseless full-information casep. 147
Limitations on communications and sensingp. 149
Limitation of communicationsp. 153
Oscillations due to sensing limitationp. 156
Group formation with partial viewp. 156
The use of 'meeting point' for target assignmentp. 161
Conclusionp. 163
Referencesp. 167
An Introduction to Collective and Cooperative Systemsp. 171
Preliminaries in game and team theoryp. 172
Collective systemsp. 180
Precedence, hierarchy, and supervisionp. 185
Summaryp. 193
Referencesp. 195
Cooperative Aircraft Control for Minimum Radar Exposurep. 199
Single vehicle radar exposure minimizationp. 200
Multiple vehicle isochronous rendezvousp. 207
Conclusionp. 208
Referencesp. 211
Robust Recursive Bayesian Estimation and quantum Minimax Strategiesp. 213
Introductionp. 214
Differential geometry of Bayesian estimationp. 215
Optimal recursive estimationp. 217
Quantum realization of minimax Bayes strategiesp. 225
Concluding remarksp. 229
Referencesp. 231
Cooperative Control for Autonomous Air Vehiclesp. 233
Introductionp. 234
Autonomous munition problemp. 239
Cooperative control via distributed learning and planningp. 242
Stable vehicular swarmsp. 258
Biomimicry of foraging for cooperative controlp. 263
Concluding remarksp. 267
Referencesp. 269
Optimal Risk Path Algorithmsp. 273
Model description and setup of the optimization problemp. 276
Analytical solution approach for the risk path optimization problemp. 279
Discrete optimization approach for optimal risk path generation with a constraint on the lengthp. 284
Concluding remarksp. 293
Referencesp. 297
Appendixp. 299
Table of Contents provided by Ingram. All Rights Reserved.

ISBN: 9781402005497
ISBN-10: 1402005490
Series: Applied Optimization
Audience: General
Format: Hardcover
Language: English
Number Of Pages: 308
Published: May 2002
Publisher: Springer-Verlag New York Inc.
Country of Publication: NL
Dimensions (cm): 23.39 x 15.6  x 1.91
Weight (kg): 0.63

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