A verified hierarchical control architecture for co‐ordinated multi‐vehicle operations

Abstract

QC 2010052

Robust source-seeking hybrid controllers for nonholonomic vehicles

“…The essential property of this system is that it behaves much like the discrete-time system (4). By examining the solutions of (10) and applying the results of Section III-B, one can assert the following convergence and stability results.…”

“…This problem has received much attention in the recent literature, with approaches ranging from gradient descent with a single vehicle [5] or multiple vehicles [3] to executing a simplex-inspired optimization algorithm with a team of two vehicles [4]. Strategies using extremum seeking were also suggested for nonholonomic vehicles in [15], [6].…”

Multi-Robot Systems: Modeling, Specification, and Model Checking

“…Using hybrid automata (Henzinger, 1996) is a well accepted method to model and analyze (mobile) multi-agent systems (Alur et al, 1999;1996). Hierarchical hybrid automata (HHA) can be used for building up and describing multi-layer control architectures based on physical motion dynamics of moving agents (Borges de Sousa et al, 2007;Furbach et al, 2008). In many applications they form a link between multi-robot systems and theories of hybrid systems as in Zelinski et al (2003).…”

Adaptive yaw stability control by coordination of active steering and braking with an optimized lower‐level controller

“…1 Integration consists of decentralized, 2 centralized, 3 and hierarchical or multilayer structures. 4 An organized structure of integrated controllers can facilitate the performance of the vehicle system and achieve the highest level of performance. The concept of integrated chassis control has attracted a great deal of attention with increasing demand for balance, stability, and vehicle safety.…”