Synergetics and Decentralized Autonomous Control

Decentralized Control of Autonomous Vehicles

Decentralized control methods are appealing in coordination of multiple vehicles due to their low demand for long-range communication and their robustness to single-point failures. An important approach in decentralized multi-vehicle control involves artificial potentials or digital pheromones. In this paper we explore a decentralized approach to path generation for a group of combat vehicles i...

Decentralized Cooperative Control of Autonomous Surface Vehicles

Many pressing issues associated with control of cooperative intelligent systems involve challenges that arise from the difficulty of coordinating multiple task objectives in highly dynamic, unstructured environments. This chapter presents a multi-objective cooperative control methodology for a team of autonomous surface vehicles deployed with the purpose of protecting a waterway against hostile...

Decentralized Control System Simulation for Autonomous Underwater Vehicles

Decentralized Autonomous Control of a Myriapod Locomotion Robot

Applications such as demining and planetary exploration require locomotion over unstructured terrain. A suitable approach to solve this problem is to use legged robots, because of the flexibility that they can offer, together with a compact size. Deciding on the gait patterns of the robot that optimizes such criteria as energy consumption, walking speed and providing a good stability margin aga...

Decentralized probabilistic density control of autonomous swarms with safety constraints

This paper presents a Markov chain based approach for the probabilistic density control of a large number, swarm, of autonomous agents. The proposed approach specifies the time evolution of the probabilistic density distribution by using a Markov chain, which guides the swarm to a desired steady-state distribution, while satisfying the prescribed ergodicity, motion, and safety constraints. This...