Cooperative Control and Optimization
A cooperative system is defined to be multiple dynamic entities that share information or tasks to accomplish a common, though perhaps not singular, objective. Examples of cooperative control systems might include: robots operating within a manufacturing
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Applied Optimization Volume 66
Series Editors: Panos M. Pardalos University of Florida, U.S.A. Donald Hearn University of Florida, U.S.A.
The titles published in this series are listed at the end of this volume.
Cooperative Control and Optimization Edited by
Robert Murphey Air Force Research Laboratory, Eglin, Florida, U.S.A. and
Panos M. Pardalos University of Florida, Gainesville, Florida, U.S.A.
KLUWER ACADEMIC PUBLISHERS NEW YORK, BOSTON, DORDRECHT, LONDON, MOSCOW
eBook ISBN: Print ISBN:
0-306-47536-7 1-4020-0549-0
©2002 Kluwer Academic Publishers New York, Boston, Dordrecht, London, Moscow Print ©2002 Kluwer Academic Publishers Dordrecht All rights reserved No part of this eBook may be reproduced or transmitted in any form or by any means, electronic, mechanical, recording, or otherwise, without written consent from the Publisher Created in the United States of America Visit Kluwer Online at: and Kluwer's eBookstore at:
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“ Things taken together are wholes and not wholes, something is being brought together and brought apart, which is in tune and out of tune; out of all things there comes a unity, and out of a unity all things.” - Heraclitus
Contents
Preface
xi
1 Cooperative Control for Target Classification P. R. Chandler, M. Pachter, Kendall E. Nygard and Dharba Swaroop 1.1 Introduction 1.2 Joint classification Assignment 1.3 1.4 Hierarchical architecture Simulation 1.5 Classification issues 1.6 Conclusions 1.7
2 4 9 11 14 15 16
References
19
2 Guillotine Cut in Approximation Algorithms Xiuzhen Cheng, Ding-Zhu Du, Joon-Mo Kim and Hung Quang Ngo Introduction 2.1 2.2 Rectangular partition and guillotine cut 1-Guillotine cut 2.3 m-Guillotine cut 2.4 Portals 2.5
References
1
21 21 22 26 30 31 33
3 Unmanned Aerial Vehicles: Autonomous Control Challenges, A Researcher’s Perspective Bruce T. Clough Introduction 3.1 3.2 Background The Challenges 3.3 How are we approaching these challenges? 3.4 Where are we heading from here? 3.5
References Appendix: Notes
35 36 36 39 42 49 51 53
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COOPERATIVE CONTROL AND OPTIMIZATION
4 Optimal periodic stochastic filtering with GRASP Paola Festa and Giancarlo Raiconi 4.1 Introduction and problem statement 4.2 Two interesting particular cases Discrete problem formulation 4.3 4.4 Numerical results
References 5 Cooperative Control of Robot Formations Rafael Fierro, Peng Song, Aveek Das, and Vijay Kumar Introduction 5.1 Framework for cooperative control 5.2 Formation control 5.3 Trajectory generation using contact dynamics models 5.4 Simulation results 5.5 Conclusions 5.6
References
55 56 58 65 68 71 73 73 75 76 84 87 88 91
6 Cooperative Behavior Schemes for Improving the Effectiveness of Autonomous Wide Area Search Munitions Daniel P. Gillen and David R. Jacques Introduction 6.1 6.2 Baseline computer simulation Simulation modifications 6.3 6.4 Applied response surface methodologies Results and analysis 6.5 Conclusions and recommendations 6.6
96 99 100 107 112 118
References
119
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