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AIAA Guidance, Navigation, and control Conference

作者： Obermeyer, Karl J. Oberlin, Paul Darbha, Swaroop University of California at Santa Barbara Santa Barbara CA 93106 United States Texas A and M University College Station TX 77843 United States Center for Control Dynamical Systems and Computation United States Department of Mechanical Engineering United States

ISBN: (纸本)9781600869624

This article considers a path planning problem for a single fixed-wing aircraft performing a reconnaissance mission using EO (Electro-Optical) camera(s). A mathematical formulation of the general aircraft visual reconnaissance problem for static ground targets in terrain is given and it is shown, under simplifying assumptions, that it can be reduced to what we call the PVDTSP (Polygon-Visiting Dubins Traveling Salesman Problem), a variation of the famous TSP (Traveling Salesman Problem). Two algorithms are developed to solve the PVDTSP. They fall into the class of algorithms known as sampling-based roadmap methods because they operate by sampling a finite set of points from a continuous state space in order to reduce a continuous motion planning problem to planning on a finite discrete graph. The first method is resolution complete, which means it provably converges to a nonisolated global optimum as the number of samples grows. The second method achieves slightly shorter computation times by using approximate dynamic programming, but consequently is only guaranteed to converge to a nonisolated global optimum modulo target order. Numerical experiments indicate that, for up to about 20 targets, both methods deliver good solutions suitably quickly for online purposes. Additionally, both algorithms allow trade-off of computation time for solution quality and are shown extensible to handle wind, airspace constraints, any vehicle dynamics, and open-path (vs. closed-tour) problems. Copyright © 2010 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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L2-induced gain analysis of switched linear systems via finitely parametrized storage functions

L2-induced gain analysis of switched linear systems via fini...

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作者： Hirata, Kenji Hespanha, João P. Department of Mechanical Engineering Nagaoka University of Technology Nagaoka 940 2188 Japan Department of Electrical and Computer Engineering Center for Control Dynamical Systemsand Computation University of California Santa Barbara CA 93106 United States

ISBN: (纸本)9781424474264

This paper addresses the computation of the L2-induced gain for switched linear systems. The main contribution of the paper is to completely characterize the induced gain of a switched system though a differential inequalities on a finitely parametrized common storage function, one equation for each system being switched. The motivation for computing the induced gain of a switched system is the application of robust stability tools to the analysis of hybrid systems. © 2010 AACC.

关键词： Hybrid systems

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Distributed Estimation and Detection under Local Information

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IFAC Proceedings Volumes 2010年第19期43卷 263-268页

作者： F. Pasqualetti R. Carli A. Bicchi F. Bullo Center for Control Dynamical Systems and Computation University of California Santa Barbara USA Centro I. R. “E. Piaggio” Università di Pisa Pisa Italy

This work considers the problem of obtaining optimal estimates via distributed computation in a large scale system. The electric power system, the transportation system, and generally any computer or network system, are examples of large scale systems: a decentralized estimation of signals based on observations acquired by spatially distributed sensors is the basis for a wide range of important applications. In this work, we focus on the problem of reconstructing the initial state of a linear network in the presence of process and measurement noise. We consider a local model information setup, in which the entire dynamical and measurement model is nowhere available and cannot be reconstructed for the computation. Our estimation procedure relies upon a novel technique to solve a consistent system of linear equations, for which we prove correctness and convergence. In the second part of the paper we consider the problem of detecting anomalies in a large scale network driven by noise. Despite the theoretical advances in this field of research, the currently available procedures to enforce security in large scale systems are computationally inefficient and numerically unreliable. Using our optimal estimation scheme, we describe a distributed procedure with performance guarantees that only requires local knowledge of the system model.

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Identifying Cyber Attacks via Local Model Information

Identifying Cyber Attacks via Local Model Information

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2010 49th IEEE Conference on Decision and control

作者： Fabio Pasqualetti Ruggero Carli Antonio Bicchi Francesco Bullo Center for Control Dynamical Systems and Computation University of California at Santa Barbara Centro I. R. "E. Piaggio" Universita di Pisa Pisa Italy

ISBN: (纸本)9781424477456

This work considers the problem of detecting corrupted components in a large scale decentralized system via local model information. The electric power system, the transportation system, and generally any computer or network system are examples of large scale systems for which external (cyber) attacks have become an important threat. We consider the case of linear networks, and we model a cyber attack as an exogenous input that compromises the behavior of a set of components. We exploit two distributed methods that rely on two different sets of assumptions to achieve detection and identification. The first method takes advantage of the presence in the network of weakly interconnected subparts, it requires limited knowledge of the network model, and it affords local detection and identification of misbehaving components whose behavior deviates more than a threshold. The second method relies on the presence of a set of trustworthy leaders with better computation and communication capabilities. Only relying on a partial knowledge of the network model, the leaders cooperatively detect and identify misbehaving components.

关键词： Information warfare network model large-scale systems Linear networks Detection and identification transport system power systems Leaders Leadership

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On optimal cooperative patrolling

On optimal cooperative patrolling

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IEEE Conference on Decision and control

作者： Fabio Pasqualetti Antonio Franchi Francesco Bullo Center of Control Dynamical Systems and Computation University of California슠Santa Barbara USA Department of Human Perception Cognition and Action Max Plank Institute for Biological Cybernetics Germany

ISBN: (纸本)9781424477456

This work considers the problem of designing optimal multi-agent trajectories to patrol an environment. As performance criterion for optimal patrolling we consider the worst-case time gap between any two visits of the same region. We represent the area to be patrolled with a graph, and we characterize the computational complexity of the trajectory design (patrolling) problem with respect to the environment topology and to the number of robots employed in the patrolling task. Even though the patrolling problem is generally NP-hard, we identify particular cases that are solvable efficiently, and we describe optimal patrolling trajectories. Finally, we present a heuristic with performance guarantees, and an 8-approximation algorithm to solve the NP-hard patrolling problem.

关键词： Trajectory Robot sensing systems Partitioning algorithms computational complexity Approximation algorithms

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ℒ2-induced gains of switched systems and classes of switching signals

ℒ2-induced gains of switched systems and classes of switchi...

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IEEE Conference on Decision and control

作者： Kenji Hirata João P. Hespanha Department of Mechanical Engineering Nagaoka University of Technology Nagaoka Japan Center of Control Dynamical Systems and Computation and the Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

This paper addresses the ℒ 2 -induced gain analysis for switched linear systems. We exploit non-conservative necessary and sufficient conditions for the induced gain to lie below a prescribed positive constant and discuss on the induced gains of switched systems obtained for different classes of switching signals, which distinct regularity assumptions are placed on. We particularly show that the induced gain that is obtained for the class of every piecewise constant switching signal can also be attained by the more restricted classes of switching signals.

关键词： Switches Switched systems Asymptotic stability Linear systems Stability criteria Gain

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ℒ2-induced gain analysis of switched linear systems via finitely parametrized storage functions

ℒ2-induced gain analysis of switched linear systems via fin...

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American control Conference (ACC)

This paper addresses the computation of the ℒ 2 -induced gain for switched linear systems. The main contribution of the paper is to completely characterize the induced gain of a switched system though a differential inequalities on a finitely parametrized common storage function, one equation for each system being switched. The motivation for computing the induced gain of a switched system is the application of robust stability tools to the analysis of hybrid systems.

关键词： Switched systems Linear systems Asymptotic stability control systems Difference equations Sufficient conditions Riccati equations Water storage Gain Differential equations

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Vehicle Placement to Intercept Moving Targets

Vehicle Placement to Intercept Moving Targets

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American control Conference

作者： Shaunak D. Bopardikar Stephen L. Smith Francesco Bullo Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa Barbara CA 93106 USA Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02139 USA

ISBN: (纸本)9781424474264

We address optimal placement of vehicles with simple motion, to intercept a mobile target that arrives stochastically on a line segment. The optimality of vehicle placement is measured through a cost function associated with intercepting the target. With a single vehicle, we assume that the target either moves with fixed speed and in a fixed direction or moves to maximize the vertical height or intercept time. We show that each of the corresponding cost functions is convex, has smooth gradient and has a unique minimizing location, and so the optimal vehicle placement is obtained by any standard gradient-based optimization technique. With multiple vehicles, we assume that the target moves with fixed speed and in fixed direction. We present a discrete time partitioning and gradient-based algorithm, and characterize conditions under which the algorithm asymptotically leads the vehicles to a set of critical configurations of the cost function.

关键词： Cost function Partitioning algorithms Marine vehicles Probability density function Robots Optimal control Motion control Biological materials Collaborative work Biotechnology

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Path planning for a UAV performing reconnaissance of static ground targets in terrain

Path planning for a UAV performing reconnaissance of static ...

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作者： Obermeyer, Karl J. Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa Barbara CA 93106 United States

ISBN: (纸本)9781563479786

In this article we consider a path planning problem for a single fixed-wing aircraft performing an ISR (Intelligence Surveillance Reconnaissance) mission using EO (Electro- Optical) camera(s). We give a mathematical formulation of the general aircraft visual reconnaissance problem for static ground targets in terrain and show that, under simplifying assumptions, it can be reduced to a variant of the Traveling Salesman Probem which we call the PVDTSP (Polygon-Visiting Dubins Traveling Salesman Problem). We design a genetic algorithm to solve the PVDTSP and validate it in a Monte Carlo numerical study. For fixed computation time, the genetic algorithm produces reconnaissance tours on average nearly half the length (and thus can be flown in half the time) of those delivered by a random search. The modular design of the genetic algorithm allows it to easily be extended to handle realistic assumptions such as wind and airspace constraints. Copyrflight © 2009 by Barron Associates, Inc. Published by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Genetic algorithms

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A Dynamic Boundary Guarding Problem with Translating Targets

A Dynamic Boundary Guarding Problem with Translating Targets

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Stephen L.Smith Shaunak D.Bopardikar Francesco Bullo the Center for Control Dynamical Systems and ComputationUniversity of California at Santa Barbara

We introduce a problem in which a service vehicle seeks to defend a deadline(boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on the edge opposite the deadline, and move towards the deadline at a fixed speed. The goal for the vehicle is to maximize the fraction of targets that are captured before reaching the deadline. We consider two cases;when the service vehicle is faster than the targets, and;when the service vehicle is slower than the targets. In the first case we develop a novel vehicle policy based on computing longest paths in a directed acyclic graph. We give a lower bound on the capture fraction of the policy and show that the policy is optimal when the distance between the target arrival edge and deadline becomes very large. We present numerical results which suggest near optimal performance away from this limiting regime. In the second case,when the targets are slower than the vehicle, we propose a policy based on servicing fractions of the translational minimum Hamiltonian path. In the limit of low target speed and high arrival rate, the capture fraction of this policy is within a small constant factor of the optimal.

关键词： service A Dynamic Boundary Guarding Problem with Translating Targets

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