Project abstract: Modern uses of autonomy have created a need for operations in dynamic and unknown environments. For example, a swarm of unmanned undersea vehicles (UUVs) may operate in unmapped territory, possibly including hazards such as the presence of adversaries and environmental obstacles. Mathematically, these aspects of swarm coordination mean that a swarm may never operate at steady-state. Instead, ever-changing conditions require swarms to use control strategies that are reactive, in that they must be able to respond to obstacles, adversaries, and
other hazards as they emerge, all while still completing their objectives.
In this project, we will develop new reactive, autonomous capabilities for swarms using only onboard capabilities and resources. In particular, only onboard computing and onboard sensing will be used. To do so, we will develop techniques to embed optimization algorithms in feedback loops for swarms, incorporating the flow of information from conventional feedback signals, computations onboard each agent, and communications among agents.
Project dates: 06/01/2021 to 05/31/2024 (Estimated)
PI: Matthew Hale (sole PI)