Institute for Systems Research Technical Reports

Permanent URI for this collectionhttp://hdl.handle.net/1903/4376

This archive contains a collection of reports generated by the faculty and students of the Institute for Systems Research (ISR), a permanent, interdisciplinary research unit in the A. James Clark School of Engineering at the University of Maryland. ISR-based projects are conducted through partnerships with industry and government, bringing together faculty and students from multiple academic departments and colleges across the university.

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Author: search.filters.author.Hristu-Varsakelis, DimitriosSubject: search.filters.subject.Biologically-inspired control

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    Bio-Inspired Cooperative Optimal Control with Partially-Constrained Final State
    (2005) Shao, Cheng; Hristu-Varsakelis, Dimitrios; Hristu-Varsakelis, Dimitrios; ISR
    Inspired by the process by which ants gradually optimize their foraging trails, this report investigates the cooperative solution of a class of free-final time, partially-constrained final state optimal control problems by a group of dynamic systems. A class of cooperative, pursuit-based algorithms are proposed for finding optimal solutions by iteratively optimizing an initial feasible control. The proposed algorithms require only short-range, limited interactions between group members, avoid the need for a ``global map'' of the environment on which the group evolves, and solve an optimal control problem in ``small'' pieces, in a manner which will be made precise. The performance of the algorithms is illustrated in a series of simulations and laboratory experiments.