Global Hybrid Control and Cooperative Mobile Robotics Yi Guo Center for Engineering Science Advanced...
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Global Hybrid Control and Cooperative Mobile Robotics
Yi Guo
Center for Engineering Science Advanced Research Computer Science and Mathematics Division
Oak Ridge National Laboratory
[email protected]://saturn.epm.ornl.gov/~goa
![Page 2: Global Hybrid Control and Cooperative Mobile Robotics Yi Guo Center for Engineering Science Advanced Research Computer Science and Mathematics Division.](https://reader035.fdocuments.in/reader035/viewer/2022070605/5a4d1ad87f8b9ab059973b39/html5/thumbnails/2.jpg)
Global Hybrid Control
• Global control is a further development of modern control towards the capability to handle complex systems.
• Modern control:– Robust control;– Adaptive control;– Nonlinear control;– Fuzzy control.
• Capability: a high-level version of distributed adaptive optimal control which ''swarms'' around the complex system attacking problems as they arise, but keeping a meta-view so that other problems are not ignored while attending to a particular one.
• Large power system applications.
x f(x,w,z(k); )0 g(x,w,z(k); )
z(k 1) h(x,w,z(k); )
![Page 3: Global Hybrid Control and Cooperative Mobile Robotics Yi Guo Center for Engineering Science Advanced Research Computer Science and Mathematics Division.](https://reader035.fdocuments.in/reader035/viewer/2022070605/5a4d1ad87f8b9ab059973b39/html5/thumbnails/3.jpg)
Cooperative and Autonomous Mobile Robotics
• Extend human capabilities:– Perform tasks faster– Perform tasks more safely– Perform tasks more economically– Extend reach to new tasks, e.g.:
• Tasks that are distributed:– Spatially– Temporally– Functionally
• Tasks that are “out of reach” of humans– Military: Denied areas– Space: Planetary exploration– DOE: Hazardous waste sites
• Real world applications.
![Page 4: Global Hybrid Control and Cooperative Mobile Robotics Yi Guo Center for Engineering Science Advanced Research Computer Science and Mathematics Division.](https://reader035.fdocuments.in/reader035/viewer/2022070605/5a4d1ad87f8b9ab059973b39/html5/thumbnails/4.jpg)
Multi-Robot Motion Planning
• Challenging problem: computationally expensive, NP hard.• Uncertainties in robot models and environment robust solutions.• Distributed and optimal/sub-optimal algorithms.• Outdoor rough terrain environment, and real time re-planning
capability.