DocumentCode :
2295404
Title :
Patch models and their applications to multi-vehicle control
Author :
Rao, Venkatesh G. ; D´Andrea, Raffaello
Author_Institution :
Sibley Sch. of Mech. &, Cornell Univ., Ithaca, NY
fYear :
2006
fDate :
14-16 June 2006
Abstract :
We introduce patch models, a computational modeling formalism for multi-vehicle domains. The unique feature of these models is that they are rich enough to represent controlled dynamics, while being simple enough to be manipulated by automated decision processes and humans. This capability is derived from the use of formal representations of space and time developed in the computer science community, and the idea of encapsulated path planning for hiding details of system dynamics from decision-makers. The models permit the construction of abstraction-based command and control systems. Major features include support for multiple situation models and rapid plan adaptation. We describe the formal specification of patch models and present evaluation results in the form of a three-team, seven-agent combat case study simulated on Patchworks, our implementation of patch models
Keywords :
command and control systems; control engineering computing; formal specification; path planning; transport control; Patchworks; automated decision processes; command and control systems; computational modeling formalism; computer science community; controlled dynamics; decision making; encapsulated path planning; formal specification; multivehicle control; patch applications; patch models; Aerodynamics; Automatic control; Command and control systems; Communication system control; Computational modeling; Humans; Manipulator dynamics; Path planning; Vehicle dynamics; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
Type :
conf
DOI :
10.1109/ACC.2006.1657506
Filename :
1657506
Link To Document :
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