Lab Overview: Objectives
- Formal-language-theoretic Control & Coordination of autonomous agents with the purpose of automated planning and execution of complex missions
- Optimal decision making in complex autonomous/semi-autonomous systems operating in uncertain or unmodeled environments
- Modeling high level operational intelligence for failure detection and mitigation in complex human engineered systems as supervised formal languages on finite alphabets
- Robust decision making in autonomous systems under incomplete and intermittent information
- C4ISR with focus on UGV-UAV coordination
- Very large scale cooperation
- Engineering a rigorous control paradigm for swarms focusing on control of emergent behaviors in large autonomous system of systems
Address the issues of system level integration, including:
- System level robustness to component failures
- Scalability in the number of mobile agents
- Performance measurability to multi-layer control hierarchy
- Modeling high level operational intelligence for failure detection and mitigation in complex human engineered systems as supervised formal languages on finite alphabets
What's New:
- A novel Path planning algorithm for autonomous agents based on optimization of formal language measures of probabilistic finite state machines
- Optimal supervisor Design under the possibility of missed transitions at the supervisory level
- Novel algorithms for automated behavior recognition and multi-modal sensor fusion in the context of mobile autonomous agent operation
- Optimal control of non-regular languages
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Area of Research:
We are particularly interested in the following areas through theoretical research and experimental validation:
- Behavior-based robotic research, including simultaneous localization and mapping (SLAM), obstacle avoidance, and vision-based navigation
- Mission decomposition of distributed information systems by decentralized (horizontal) and hierarchical (vertical) control strategies in the discrete event systems framework
- Multi-agent systems, distributed cooperative multi-robot systems
- Statistical signal processing and filtering hybrid systems
- Routing and energy saving in ad hoc wireless mobile networks
- Probabilistic failure diagnosis and mitigation
- Real-time computer vision for mobile platforms
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