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Distributed , Decentralized Optimization for Cooperative Control of Multi-Agent…

Award Information

Department of Defense
Award ID:
Program Year/Program:
2004 / STTR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Scientific Systems Company, Inc
500 West Cummings Park - Ste 3000 Woburn, MA 01801-6562
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Woman-Owned: No
Minority-Owned: Yes
HUBZone-Owned: No
Phase 1
Fiscal Year: 2004
Title: Distributed , Decentralized Optimization for Cooperative Control of Multi-Agent Swarm-like Systems
Agency / Branch: DOD / NAVY
Contract: N00014-04-M-0289
Award Amount: $69,957.00


Scientific Systems Co. Inc. and University of California at Berkeley (UCB) propose to develop, test and evaluate a computationally Distributed,Decentralized Optimization for Cooperative Control of Multi-Agent Swarm-like Systems (DOCMASS)such as groups of autonomous Unmanned Air-Vehicles (UAVs). A primary goal of the proposed work is to develop computational models amenable to high-speed simulation, design and control of multi-agent swarm-like systems, and to determine how relatively simple and controllable, interaction rules between individual agents (e.g. UAVs) can lead to sophisticated aggregate behavior which is required; for example, to accomplish autonomous reconnaissance military missions in a hostile terrain. In order to develop, test and implement the DOCMASS system, the following tasks will be carried out: (i) Develop computationally distributed and decentralized cooperative control algorithms for multi-agent swarm-like systems such as groups of UAVs operating under environmental, dynamic, kinematic and communication constraints, (ii) Perform stability analysis of multiple-agent swarm-like systems and develop performance metrics to analyze the effects of inter-vehicle communication constraints on the overall system performance, (iii) Implement and evaluate proposed algorithms on the UC Berkeley multi-agent swarm-like systems simulator, which will be modified to include for a realistic model of an UAV dynamics, sensors and a mobile military network, (iv) Simulation testing on a scenario involving up to two hundred UAVs operating in dynamic and uncertain environment while executing cooperative reconnaissance missions.

Principal Investigator:

Denis Garagic
Research Engineer

Business Contact:

Raman Mehra
Small Business Information at Submission:

500 West Cummings Park - Ste 3000 Woburn, MA 01801

EIN/Tax ID: 043053085
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Research Institution Information:
University of California Berkeley
Mechanical Engineering, 6117 Etcheverry Hall
Berkeley, CA 94720
Contact: Tarek Zohdi
Contact Phone: (510) 642-9172
RI Type: Nonprofit college or university