Cooperative Decision and Control with Intermittent Asynchronous Communication

Award Information
Agency: Department of Defense
Branch: Air Force
Contract: FA9550-05-C-0131
Agency Tracking Number: F054-011-0151
Amount: $99,934.00
Phase: Phase I
Program: STTR
Awards Year: 2005
Solicitation Year: 2005
Solicitation Topic Code: AF05-T011
Solicitation Number: N/A
Small Business Information
37 Liberty Avenue, Lexington, MA, 02420
DUNS: 061935057
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 James Paduano
 (781) 685-4844
Business Contact
 James Paduano
Title: President
Phone: (781) 685-4844
Research Institution
 Jon P How
 77 Massachusets Avenue
Cambridge, MA, 02139
 (617) 253-3267
 Nonprofit college or university
Nascent Technology, MIT, and BAE Systems propose to create an embedded system, suitable for installation in low- and medium-cost UAVs, that performs cooperative decision and control in practical communication environments. This effort will extend existing decentralized task assignment tools, test them in a realistic simulation environment, and design a prototype embedded flight hardware implementation. The key control challenge is to maintain coordination and deconfliction in reduced bandwidth and intermittent connectivity situations, and to gracefully handle long communication outages. Method to meet this challenge has been developed by MIT and BAE systems under AFOSR and DARPA support; these methods will be assessed and further developed to address extended loss of communications, and to incorporate reversion modes required when consensus in the world-view and/or team-plan phase cannot be reached due to intermittency. MIT's multi-UAV flight testbed, as well as NTC's real-time hardware-in-the-loop helicopter simulation environment, will be used to validate algorithms that are suitable for transition into low-cost embedded processors. NTCs embedded system architecture will allow incorporation of real-time communication status information (reduced bandwidth, intermittent connectivity, loss of communication) into the decision process.

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

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