Analysis, Control, and Estimation for Multiscale Adaptive Sensor Systems

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N00014-16-1-2447

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May 1, 2016 – July 31, 2019

$476,236

ONR

Ocean, Atmosphere and Space, Sensing and System Division

PI:

S. Ferrari

Project Description

This project seeks to develop a theoretical framework for the analysis, control, and estimation of cooperative sensors systems comprised of groups of autonomous agents that are deployed to optimize multiple cooperative objectives.

Research Goals

  • Develop and verify adaptive DOC policy improvement and value-determination equation for updating optimal agent PDF online.
  • Prove properties and convergence of adaptive DOC algorithm.
  • Perform sensitivity analysis for uncertainties associated with:
    • Target information
    • Environmental conditions
    • Platform state
    • Sensor performance
  • Derive adaptive agent-level control laws that optimized
    a tradeoff of network-level and agent-level objectives.

Peer-Reviewed Publications

  1. P. Zhu, S. Ferrari, B. Doerr, R. Linares, “Integrated Gas Distribution Mapping and Path Planning for Very Large-Scale Robotic (VLSR) Systems,” Sensors, Sensors 19, no. 7 (2019): 1524.
  2. J. Morelli, P. Zhu, B. Doerr, R. Linares, S. Ferrari “Integrated Mapping and Path Planning for Very Large-Scale Robotic (VLSR) Systems,” ICRA, International Conference on Robotics and Automation (ICRA), pp. 3356-3362. IEEE, 2019.
  3. P. Zhu, J. Morelli, S. Ferrari, “Value Function Approximation for the Control of Multiscale Dynamical Systems,” Proc. of the IEEE Conference on Decision and Control, Las Vegas, NV, pp. 5471-5477, December 2016. [PDF]
  4. P. Zhu, H. Wei, W. Lu, S. Ferrari, “Multi-Kernel Probability Distribution Regressions,” International Joint Conference On Neural Networks (IJCNN), 2015. [PDF]
  5. B. Doerr, R. Linares, P. Zhu, S. Ferrari,”Random Finite Set Theory and Optimal Control of Large Collaborative Swarms,” submitted to Journal of Guidance, Control, and Dynamics.
  6. B. Doerr, R. Linares, P. Zhu, S. Ferrari, “Random Finite Set Theory and Optimal Control for Large Spacecraft Swarms,”  arXiv preprint arXiv:1810.00696, 2018.

Presentations

  1. “Multiscale Adaptive Sensor Systems,” ONR Maritime Sensing-Discovery & Invention (D&I) Review, Naval Surface Warfare Center, Carderock, MD, August 2016. [PDF]
  2. “Multi-scale Adaptive Sensor Systems,” ONR Maritime Sensing-Discovery & Invention (D&I) Review, Naval Surface Warfare Center, Carderock, MD, August 2017. [PDF]
  3. “Multi-scale Adaptive Sensor Systems,” ONR Maritime Sensing-Discovery & Invention (D&I) Review, Naval Surface Warfare Center, Carderock, MD, August 2018. [PDF]
  4. “Value Function Approximation for the Control of Multiscale Dynamical Systems,” IEEE Conference on Decision and Control, Las Vegas, NV, December 2016. [PDF]
  5. “Multi-Kernel Probability Distribution Regressions,” International Joint Conference On Neural Networks (IJCNN), Killarney, Ireland, 2015. [PDF]