seminar: Dynamic optimization techniques in the coordination and control of network vehicle systems
speaker: Joao Sousa (LSTS, Portugal)abstract: The last decade has witnessed unprecedented interactions between technological developments in computing, communications and control, and the design and implementation of interacting dynamical systems, such as networked multi-vehicle systems. These developments enable engineers to design new systems, and in turn, the implementation of these systems leads to a better understanding of the underlying technological issues, and to the formulation of new theories. This is why we need to couple the development of scientific frameworks with the deployment of network vehicle systems. We have been doing this at the Underwater Systems and Technologies Laboratory (USTL) from Porto University
This talk is organized into two parts. In the first part I describe the development of ocean and air vehicles, tools and technologies for the deployment of network vehicle systems. I discuss our control architecture for the mixed initiative control of unmanned vehicles and briefly report on our experience with operational deployments with autonomous and operator assisted underwater, surface and air vehicles. This is done in the context of the R&D done at the USTL.
In the second part of the talk I address the problem of coordination and control of unmanned vehicle systems in the framework of dynamic optimization. This is done with the help of hybrid systems models. I discuss several coordination and control problems and show how dynamic optimization can be used to derive optimal strategies and to measure the value of cooperation. Finally, I discuss the use of these techniques to prove that the implementation of a hierarchical control structure is consistent with a formal specification on some desired behavior.
timetable:
Fri 6 Apr, 14:30 - 15:00, Aula Dini
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