Control Architecures for Autonomous Teams (CAAT)

Award Information
Agency: Department of Defense
Branch: Navy
Contract: N00178-02-C-3104
Agency Tracking Number: N02-097-05
Amount: $70,000.00
Phase: Phase I
Program: SBIR
Awards Year: 2002
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
Alphatech, Inc.
50 Mall Road, Burlington, MA, 01803
DUNS: 094841665
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Michael Curry
 Research Engineer
 (781) 273-3388
 michael.curry@alphatech.com
Business Contact
 Andrew Mullin
Title: Gen. Cnsl. & Dir. of Cont
Phone: (781) 273-3388
Email: andy.mullin@alphatech.com
Research Institution
N/A
Abstract
"Cooperative, autonomous control is required to realize the full potential of autonomous UAVs in a tactical military setting. This proposal addresses the cooperative platform control problem where the control task is to coordinate teams of small,expendable, platforms to perform Intelligence, Surveillance, and Reconnaissance (ISR) tasks. When viewed as a centralized control problem under uncertainty, Stochastic Dynamic Programming (SDP) provides the optimal control strategy for this stochasticproblem; however, this solution approach is not computationally feasible for most problems, and requires excessive centralization of information and computation. Moreover, the impact of imperfect communication performance decreases the overall performanceachievable by large, centrally controlled teams. We propose innovative distributed control architectures that extend previous ALPHATECH Approximate Dynamic Programming (ADP) successes to cooperative control of teams of UAVs. ADP is used as a basis forcontrol of centralized and decentralized architectures. The Phase I work, organized around a simulation-based trade study, begins with the evaluation of a centralized architecture. Insights into the centralized implementation are used to identify andaddress significant issues organic to all decentralized architectures. Phase II extends the work of Phase I by incorporating additional dimensions in the trade space and increasing the size and realis

* information listed above is at the time of submission.

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