Reliable Multi-Agent Control in Failure-Prone Environments via Inhomogenous Markov Chains

Sponsor: Defense Technical Information Center (DTIC)

Award Number: 076988-16407

PI: Alexander Olshevsky

Abstract:

This project developed protocols for the coordination of autonomous nodes such as UAVs, ROVs, and other robotic platforms operating in fault-prone environments characterized by noisy and time-varying communication, message losses, and persistent and unpredictable node failures. For problems of formation control, leader-following, cooperative estimation and learning, resource allocation, and others tasks fitting within a separable optimization framework, control strategies were developed with fast and reliable performance, even in simulated networks of thousands of nodes.

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