Autonomous system (mathematics)

About: Autonomous system (mathematics) is a research topic. Over the lifetime, 1648 publications have been published within this topic receiving 38373 citations.

Autonomous Vehicle-Target Assignment: A Game-Theoretical Formulation

Abstract: We consider an autonomous vehicle-target assignment problem where a group of vehicles are expected to optimally assign themselves to a set of targets. We introduce a game-theoretical formulation of the problem in which the vehicles are viewed as self-interested decision makers. Thus, we seek the optimization of a global utility function through autonomous vehicles that are capable of making individually rational decisions to optimize their own utility functions. The first important aspect of the problem is to choose the utility functions of the vehicles in such a way that the objectives of the vehicles are localized to each vehicle yet aligned with a global utility function. The second important aspect of the problem is to equip the vehicles with an appropriate negotiation mechanism by which each vehicle pursues the optimization of its own utility function. We present several design procedures and accompanying caveats for vehicle utility design. We present two new negotiation mechanisms, namely, "generalized regret monitoring with fading memory and inertia" and "selective spatial adaptive play," and provide accompanying proofs of their convergence. Finally, we present simulations that illustrate how vehicle negotiations can consistently lead to near-optimal assignments provided that the utilities of the vehicles are designed appropriately.

MPC-Based Approach to Active Steering for Autonomous Vehicle Systems

Abstract: In this paper a novel approach to autonomous steering systems is presented. A model predictive control (MPC) scheme is designed in order to stabilize a vehicle along a desired path while fulfilling its physical constraints. Simulation results show the benefits of the systematic control methodology used. In particular we show how very effective steering manoeuvres are obtained as a result of the MPC feedback policy. Moreover, we highlight the trade off between the vehicle speed and the required preview on the desired path in order to stabilize the vehicle. The paper concludes with highlights on future research and on the necessary steps for experimental validation of the approach.

Structured control for autonomous robots

Abstract: To operate in rich, dynamic environments, autonomous robots must be able to effectively utilize and coordinate their limited physical and computational resources. As complexity increases, it becomes necessary to impose explicit constraints on the control of planning, perception, and action to ensure that unwanted interactions between behaviors do not occur. This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components. In this structured control approach, the deliberative components handle normal situations and the reactive behaviors, which are explicitly constrained as to when and how they are activated, handle exceptional situations. The Task Control Architecture (TCA) has been developed to support this approach. TCA provides an integrated set of control constructs useful for implementing deliberative and reactive behaviors. The control constructs facilitate modular and evolutionary system development: they are used to integrate and coordinate planning, perception, and execution, and to incrementally improve the efficiency and robustness of the robot systems. To date, TCA has been used in implementing a half-dozen mobile robot systems, including an autonomous six-legged rover and indoor mobile manipulator. >

A Control Strategy for a Distributed Generation Unit in Grid-Connected and Autonomous Modes of Operation

Abstract: This paper presents a new voltage control strategy for an electronically-interfaced distribution generation (DG) unit that utilizes a voltage-sourced converter (VSC) as the interface medium. The control strategy is based on the concept of voltage-controlled VSC (VC-VSC) rather than the conventional current-controlled VSC (CC-VSC). The proposed VC-VSC 1. enables operation of a DG unit in both grid-connected and islanded (autonomous) modes, 2. provides current-limit capability for the VSC during faults, 3. inherently provides an islanding detection method without non-detection zone, 4. provides smooth transition capability between grid-connected and autonomous modes, and 5. can accommodate ride-through capability requirements under a grid-connected mode. This paper also investigates performance of the proposed VC-VSC strategy based on an eigenanalysis in MATLAB, and time-domain simulations in the PSCAD/EMTDC environment.

Autonomous Self-Assembly in Swarm-Bots

Abstract: In this paper, we discuss the self-assembling capabilities of the swarm-bot, a distributed robotics concept that lies at the intersection between collective and self-reconfigurable robotics. A swarm-bot is comprised of autonomous mobile robots called s-bots. S-bots can either act independently or self-assemble into a swarm-bot by using their grippers. We report on experiments in which we study the process that leads a group of s-bots to self-assemble. In particular, we present results of experiments in which we vary the number of s-bots (up to 16 physical robots), their starting configurations, and the properties of the terrain on which self-assembly takes place. In view of the very successful experimental results, swarm-bot qualifies as the current state of the art in autonomous self-assembly