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Full-Text Articles in Physical Sciences and Mathematics
A Framework For Autonomous Cooperative Optimal Assignment And Control Of Satellite Formations, Devin E. Saunders
A Framework For Autonomous Cooperative Optimal Assignment And Control Of Satellite Formations, Devin E. Saunders
Theses and Dissertations
A decentralized, cooperative multi-agent optimal control framework is presented to offer a solution to the assignment and control problems associated with performing multi-agent tasks in a proximity operations environment. However, the framework developed may be applied to a variety domains such as air, space, and sea. The solution presented takes advantage of a second price auction assignment algorithm to optimally task each satellite, while model predictive control is implemented to control the agents optimally while adhering to safety and mission constraints. The solution is compared to a pseudospectral collocation method, and a study on tuning parameters is included.
Design And Evaluation Of Standard Telerobotic Control Software, Kevin P. Anchor
Design And Evaluation Of Standard Telerobotic Control Software, Kevin P. Anchor
Theses and Dissertations
This thesis represents the first implementation of a proposed Air Force standard telerobotic control architecture. This architecture was developed by the NASA Jet Propulsion Laboratory and the National Institute of Standards and Technology under contract to the Air Force Materiel Command Robotics and Automation Center of Excellence (RACE) as the Unified Telerobotics Architecture Project (UTAP). The AFIT Robotics and Automation Applications Group (RAAG) Lab B facility computational structure was redesigned to be compliant with the UTAP architecture. This thesis shows that the UTAP specification to be implementable. However, if the underlying operating system does not support generic message passing, an …