Global Hybrid Control and Cooperative Mobile Robotics

Yi Guo

Center for Engineering Science Advanced Research Computer Science and Mathematics Division

Oak Ridge National Laboratory

guoy@ornl.govhttp://saturn.epm.ornl.gov/~goa

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); )

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.

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.