NDLI: Stability properties of a cooperative Receding Horizon controller

Content Provider	IEEE Xplore Digital Library
Author	Wei Li Cassandras, C.G.
Copyright Year	2003
Description	Author affiliation: Dept. of Manuf. Eng., Boston Univ., Brookline, MA, USA (Wei Li; Cassandras, C.G.)
Abstract	We consider a setting where multiple vehicles form a team cooperating to visit multiple target points to collect rewards associated with them. The team objective is to maximize the total reward accumulated over a given time interval. Complicating factors include uncertainties regarding the locations of target points and the effectiveness of collecting rewards, differences among vehicle capabilities, and the fact that rewards are time-varying. We have proposed a Receding Horizon (RH) control scheme which dynamically determines vehicle trajectories by solving a sequence of optimization problems over a planning horizon and executing them over a shorter action horizon. A key property observed in the operation of this scheme is that the trajectories are stationary, in the sense that they ultimately assign vehicles to target points, even though the controller is not explicitly designed to perform such discrete point assignments. This paper makes use of the potential field method and establishes conditions under which this property holds and fully studies settings which are analytically tractable.
Sponsorship	Honeywell Lab. Xerox Nat. Instruments Math Works
Starting Page	492
Ending Page	497
File Size	681688
Page Count	6
File Format	PDF
ISBN	0780379241
ISSN	01912216
DOI	10.1109/CDC.2003.1272611
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-12-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability Space vehicles Trajectory Space missions Uncertainty Remotely operated vehicles Stochastic processes Path planning Manufacturing Automotive engineering
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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