This work was specifically focused on multi-agent coordination and collaboration in complex, dynamic, and unstructured environments. A framework was develped for modeling groups of robots and emergent group behaviors- specifically 2-D / 3-D swarm formation control using solid mathematical / analytic approaches based on multivariate functions. The produced result and research contribution was a decentralized, adaptable formation controller for robot swarms. Techniques were also developed for coordination of heterogeneous swarms of Unmanned Ground Vehicles (UGV) with a supervisory Unmanned Aerial Vehicle (UAV). Subsequent work focused on Unmanned Aircraft Systems simulation, intent prediction, and formation control.
Sponsor: Army Research Office (ARO) and Space and Naval Warfare Systems Command (SPAWAR)