Coordinated Control of Multi-Agent Systems in Rapidly Varying Environments

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: NNA04AA19C
Agency Tracking Number: 030166
Amount: $99,989.00
Phase: Phase I
Program: STTR
Awards Year: 2004
Solicitation Year: 2003
Solicitation Topic Code: T1.01
Solicitation Number: N/A
Small Business Information
Scientific Systems Co Inc
500 West Cummings Park Suite 3000, Woburn, MA, 01801-6580
DUNS: 859244204
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: Y
Principal Investigator
 Raman Mehra
 Principal Investigator
 (781) 933-5355
 rkm@ssci.com
Business Contact
 Raman Mehra
Title: President
Phone: (781) 933-5355
Email: rkm@ssci.com
Research Institution
 Brigham Young University
 Not Available
 A-261 ASB
PO BOX 21231
Provo, UT, 84602
 (801) 422-6177
 Domestic nonprofit research organization
Abstract
In this STTR project Scientific Systems Company, Inc. (SSCI) and Brigham Young University (BYU) propose to design, implement, and test an Autonomous Coordinated Control And Management System (ACCAMS) for multiple Unmanned Air Vehicles (UAVs) engaged in cooperative missions under rapidly changing environment. Over the past few years, BYU has developed an effective approach for complex cooperative missions such as the coordinated multiple UAV rendezvous mission. In this project we plan to enhance this approach by integration of Failure Detection, Identification, and Reconfiguration (FDIR) algorithms, Achievable Dynamic Performance (ADP) estimation algorithms, and high level decision making logic to the control architecture. The integration of these algorithms allow the UAVs to make intelligent decisions in the presence of subsystem failures or external threats in an autonomous fashion. The FDIR algorithms detect and identify the failure when it occurs, and reconfigures the controller to continue the mission if possible. It also estimates the new ADP and pass this information to the upper layers to decide if the trajectory/path/mission need to be changed after the failure or threat has occurred. We also plan to conduct flight tests of the baseline coordinated control scheme to demonstrate the path planning and trajectory generation capabilities using the BYU fixed-wing UAV testbed during Phase I.

* information listed above is at the time of submission.

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