Distributed , Decentralized Optimization for Cooperative Control of Multi-Agent Swarm-like Systems

Award Information
Agency: Department of Defense
Branch: Navy
Contract: N00014-04-M-0289
Agency Tracking Number: N045-005-0283
Amount: $69,957.00
Phase: Phase I
Program: STTR
Awards Year: 2004
Solicitation Year: 2004
Solicitation Topic Code: N04-T005
Solicitation Number: N/A
Small Business Information
500 West Cummings Park - Ste 3000, Woburn, MA, 01801
DUNS: 859244204
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: Y
Principal Investigator
 Denis Garagic
 Research Engineer
 (781) 933-5355
Business Contact
 Raman Mehra
Title: President
Phone: (781) 933-5355
Email: rkm@ssci.com
Research Institution
 University of California Berkeley
 Tarek Zohdi
 Mechanical Engineering, 6117 Etcheverry Hall
Berkeley, CA, 94720
 (510) 642-9172
 Nonprofit college or university
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.

* Information listed above is at the time of submission. *

Agency Micro-sites

SBA logo
Department of Agriculture logo
Department of Commerce logo
Department of Defense logo
Department of Education logo
Department of Energy logo
Department of Health and Human Services logo
Department of Homeland Security logo
Department of Transportation logo
Environmental Protection Agency logo
National Aeronautics and Space Administration logo
National Science Foundation logo
US Flag An Official Website of the United States Government