In this paper, the design of the optimal decentralized state-feedback controllers is considered for a wireless sensor and actuator network (WSAN) with stochastic network-induced delays and packet losses. In particular, taking advantage of multiple controllers, we model the WSAN as a wireless networked control system (NCS) with decentralized controllers, and then formulate the stochastic optimal...

This paper investigates the problem of controlling a team of Quadrotors that cooperatively transport a common payload. The main contribution of this study is to propose a cooperative control algorithm based on a decentralized algorithm. This strategy is comprised of two main steps: the first one is calculating the basic control vectors for each Quadrotor using Moore–Penrose theory aiming at coo...

We coordinate in discrete time the interaction of two heterogeneous groups of mobile agents: a group of ground vehicles (ugvs) and a group of aerial vehicles (uavs). The ground agents interact with each other through time-invariant, nearestneighbor rules. They synchronize their velocities through a specific communication protocol, and maintain cohesion and separation behavior by means of inter-...

Many pressing issues associated with control of cooperative intelligent systems involve challenges that arise from the difficulty of coordinating multiple task objectives in highly dynamic, unstructured environments. This chapter presents a multi-objective cooperative control methodology for a team of autonomous surface vehicles deployed with the purpose of protecting a waterway against hostile...

This paper describes how decentralized control theory can be used to control multiple cooperative robotic vehicles. Models of cooperation are discussed and related to the input/output reachability and structural observability and controllability of the entire system. Whereas decentralized control research in the past has concentrated on using decentralized controllers to partition complex physi...

The intractability in cooperative, decentralized control models is mainly due to prohibitive memory requirements in both optimal policies and value functions. The complexity analysis has emerged as the standard method to estimating the memory needed for solving a given computational problem, but complexity results may be somewhat limited. This paper introduces a general methodology— structural ...

DECENTRALIZED CONTROL OF MULTIPLE UAVS FOR PERIMETER AND TARGET SURVEILLANCE Derek Bastian Kingston Department of Electrical and Computer Engineering Doctor of Philosophy With the recent development of reliable autonomous technologies for small unmanned air vehicles (UAVs), the algorithms utilizing teams of these vehicles are becoming an increasingly important research area. Unfortunately, ther...