Military airborne and maritime application for cooperative behaviors.

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Description

As part of DARPA's Software for Distributed Robotics Program within the Information Processing Technologies Office (IPTO), Sandia National Laboratories was tasked with identifying military airborne and maritime missions that require cooperative behaviors as well as identifying generic collective behaviors and performance metrics for these missions. This report documents this study. A prioritized list of general military missions applicable to land, air, and sea has been identified. From the top eight missions, nine generic reusable cooperative behaviors have been defined. A common mathematical framework for cooperative controls has been developed and applied to several of the behaviors. The framework is based ... continued below

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49 p.

Creation Information

Feddema, John Todd; Byrne, Raymond Harry & Robinett, Rush D. III September 1, 2004.

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Description

As part of DARPA's Software for Distributed Robotics Program within the Information Processing Technologies Office (IPTO), Sandia National Laboratories was tasked with identifying military airborne and maritime missions that require cooperative behaviors as well as identifying generic collective behaviors and performance metrics for these missions. This report documents this study. A prioritized list of general military missions applicable to land, air, and sea has been identified. From the top eight missions, nine generic reusable cooperative behaviors have been defined. A common mathematical framework for cooperative controls has been developed and applied to several of the behaviors. The framework is based on optimization principles and has provably convergent properties. A three-step optimization process is used to develop the decentralized control law that minimizes the behavior's performance index. A connective stability analysis is then performed to determine constraints on the communication sample period and the local control gains. Finally, the communication sample period for four different network protocols is evaluated based on the network graph, which changes throughout the task. Using this mathematical framework, two metrics for evaluating these behaviors are defined. The first metric is the residual error in the global performance index that is used to create the behavior. The second metric is communication sample period between robots, which affects the overall time required for the behavior to reach its goal state.

Physical Description

49 p.

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  • Report No.: SAND2004-4764
  • Grant Number: AC04-94AL85000
  • DOI: 10.2172/919642 | External Link
  • Office of Scientific & Technical Information Report Number: 919642
  • Archival Resource Key: ark:/67531/metadc897428

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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Creation Date

  • September 1, 2004

Added to The UNT Digital Library

  • Sept. 27, 2016, 1:39 a.m.

Description Last Updated

  • Dec. 9, 2016, 6:40 p.m.

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Feddema, John Todd; Byrne, Raymond Harry & Robinett, Rush D. III. Military airborne and maritime application for cooperative behaviors., report, September 1, 2004; United States. (digital.library.unt.edu/ark:/67531/metadc897428/: accessed December 17, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.