robots

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
More...

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