Decentralized swarming beliefs of distributed autonomous heterogeneous system

Jamahl Overstreet, Farshad Khorrami, Prashanth Krishnamurthy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper outlines a novel method for Cooperative Behavioral Control of distributed heterogeneous autonomous systems, emulating the methods in which humans collaborate. This method allows autonomous systems to collaborate on tasks and mission goals, similar to how humans interact, and is effective and efficient for real-time resource allocation. The proposed method fundamentally reduces the required communication bandwidths by significantly decreasing the amount of data necessary for real-time information exchange between cooperating agents. This is done by creating a swarm to estimate the beliefs of the collective, and not on physical states which is usually done by classical approaches. In sharing core beliefs, a collective of heterogeneous agents can plan as an individual, inherently and naturally deconflicting the notion of cost and optimality.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Pages3411-3416
Number of pages6
StatePublished - 2011
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: Jun 29 2011Jul 1 2011

Other

Other2011 American Control Conference, ACC 2011
CountryUnited States
CitySan Francisco, CA
Period6/29/117/1/11

Fingerprint

Resource allocation
Bandwidth
Communication
Costs

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Overstreet, J., Khorrami, F., & Krishnamurthy, P. (2011). Decentralized swarming beliefs of distributed autonomous heterogeneous system. In Proceedings of the 2011 American Control Conference, ACC 2011 (pp. 3411-3416). [5991574]

Decentralized swarming beliefs of distributed autonomous heterogeneous system. / Overstreet, Jamahl; Khorrami, Farshad; Krishnamurthy, Prashanth.

Proceedings of the 2011 American Control Conference, ACC 2011. 2011. p. 3411-3416 5991574.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Overstreet, J, Khorrami, F & Krishnamurthy, P 2011, Decentralized swarming beliefs of distributed autonomous heterogeneous system. in Proceedings of the 2011 American Control Conference, ACC 2011., 5991574, pp. 3411-3416, 2011 American Control Conference, ACC 2011, San Francisco, CA, United States, 6/29/11.
Overstreet J, Khorrami F, Krishnamurthy P. Decentralized swarming beliefs of distributed autonomous heterogeneous system. In Proceedings of the 2011 American Control Conference, ACC 2011. 2011. p. 3411-3416. 5991574
Overstreet, Jamahl ; Khorrami, Farshad ; Krishnamurthy, Prashanth. / Decentralized swarming beliefs of distributed autonomous heterogeneous system. Proceedings of the 2011 American Control Conference, ACC 2011. 2011. pp. 3411-3416
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