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Fall 2010 GRASP Seminar – Kingsley Fregene, Lockheed Martin Advanced Technology Labs, “Hybrid Multi-Agent Control in Communication-Constrained Environments”

October 1, 2010 @ 11:00 am - 12:00 pm

Abstract: This
talk will describe the dynamics and control of autonomous multi-vehicle systems
that are developed using the hybrid intelligent control agent (HICA) paradigm.
HICA is a systems- and control-oriented approach for the modeling, control and
coordination of multi-agent systems in which each agent exhibits both
continuous-valued and discrete-event dynamic characteristics (i.e. is a hybrid
system). A HICA essentially wraps an intelligent agent around a hybrid control
system core.

will discuss several HICA control development examples that involve teams of
unmanned aerial vehicles (UAVs), unmanned underwater vehicles (UUVs) and
unmanned ground vehicles (UGVs). The ability of this class of multi-agent
systems to attain its goal is then formulated as a Lyapunov stability problem.
Sufficient mathematical criteria are developed for this property to hold in a
constrained communication environment. Results are demonstrated using a
multi-vehicle pursuit-evasion example. The talk will conclude with a discussion
of recent results in the autonomous control of Lockheed Martin’s Samarai family
of Bio-Mimetic Single Wing UAVs as well as methods for applying the HICA
concept to the control and coordination of Samarai teams.


Kingsley Fregene is a Lead Research Scientist at
Lockheed Martin Advanced Technology Labs in Cherry Hill, NJ. His industrial
R&D activities are in the general area of systems and control for
autonomous vehicles and micro-scale devices. He received the Ph.D. and M.A.Sc.
degrees from the University of Waterloo, Canada in 2002 and 1999 respectively
and the B.Eng degree, with first class honors, from the Federal
University of Technology, Owerri, Nigeria, in 1996 (all in Electrical &
Computer Engineering). Prior to joining Lockheed Martin, he was a Senior
Research Scientist in the Guidance & Control group at Honeywell Labs,
Minneapolis, where he also led several industry-university research
collaborations. He has held visiting research positions at the Los Alamos and
Oak Ridge National Laboratories. He is a
senior member of the IEEE and AIAA. His services to the technical community include:
reviewer for the National Science Foundation Engineering Research Centers
Program; program committee and associate editor for IEEE Conference on Decision
and Control; IEEE Technical Committee on Aerospace Controls; and Guest editor
for an upcoming special issue on UAVs and
of the IEEE Control Systems Magazine. He holds 2 patents, with several more pending.


October 1, 2010
11:00 am - 12:00 pm
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