Professional Documents
Culture Documents
Fahroo - Dynamics Control
Fahroo - Dynamics Control
Fahroo - Dynamics Control
5
Control Sub-disciplines
• Distributed , Cooperative Control of Autonomous Multiple-Agents
for complex tasks in uncertain, adversarial environments –
(information theory, information fusion, network theory, robust
decision making)
• Less emphasis on deterministic cooperative control and path
planning
• More emphasis on stochastics and adversarial modeling in
autonomous and cooperative control
• Special topics in MURIs
• Verification & Validation for Distributed Embedded Systems –
(Dynamics & Control and Software & Systems)
• Mixed Initiative/HMI – (Dynamics & Control and Robust Decision
Making)
• Distributed Learning and Information Dynamics in Networked
Autonomous Systems
• Human-Machine Adversarial Networks 6
Partnerships and Collaborations
Intramural Activities
• AFRL/RBCA --- Control Sciences Center of Excellence
Siva Banda -- Autonomous and Cooperative Control of Air Vehicles – MAACS at
Univ of Michigan
– David Doman -- Dynamics and Control of Minimally Actuated Biomimetic Micro-
Robotic Aircraft with Insect-like Maneuverability
– Derek Kingston -- Mission Management for Cooperative Heterogeneous Systems
in Dynamically Changing Environments
Corey Schumacher -- Operator-UAV Decision-Aiding
L1 AFCS
L1 AFCL
High model
Stick-to-Surface uncertainty
Flight imagery of
4 consecutive frames
12
Information Theoretic Sensing and
Predictive Control
• Passive dissipation: find the cell with lowest charge MIN and
dissipate all remaining cells until MIN is reached.
• Time to balance: ~96 hours (simulation above shows only first 18hrs)
• Energy dissipation ~2179 [Wh] 14
Information Theoretic Sensing and
Predictive Control
Francesco Borrelli, Karl Hedrick
15
Frameworks and Tools for High-Confidence Design of
Adaptive, Distributed Embedded Control Systems
Systems
Team Members:
Vanderbilt: J. Sztipanovits (PI) and G. Karsai
UC Berkeley: C. Tomlin (Lead and co-PI), Edward Lee and S. Sastry
CMU: Bruce Krogh (Lead and co-PI) and Edmund Clarke
Stanford: Stephen Boyd
16
Scientific Challenges
features, pixel
values, …
u y
G()
20
Transformational Opportunities
Video clip from the failed Times Square bombing attempt. Hankel
rank jumps identify contextually abnormal activity by the suspect
21
2010 MURI Topic 16 (AFOSR)
Human-Machine Adversarial Networks
(Tamer Baser – UIUC)
22
Vision and Overarching Goal
• Complex interactions,
• Uncertainty and adversarial actions,
• Trust, learning,
• Humans-in-the-loop,
• Information and communication, and
• Design of architectures to facilitate generation and
transmission of actionable information for performance
improvement under different equilibrium solutions
23