You are on page 1of 66

Adaptive Coordinated Control of Intelligent Multi-Agent Teams

Shankar Sastry, Ruzena Bajcsy, Peter Bartlett, Laurent El Ghaoui, Mike Jordan, Jitendra Malik, Stuart Russell, Pravin Varaiya (Berkeley) Vijay Kumar, Kostas Danillidis, Ali Jadbabaie, George Pappas, C. J. Taylor (Penn) Howie Choset, Alfred Rizzi, Chuck Thorpe (CMU)

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Technology Challenges
1. The world and national security threats are different: mobile operations in urban terrain, perimeter protection, convoy protection, anti terrorism operations. 2. Use of robotic and mixed initiative forces, the need for coordination of manned and unmanned forces 3. The need for dynamic strategies and tactics for dealing with a determined and flexible adversary. 4. Exploitation of the 3rd dimension by organic UAVs designed for use by individual dismounts
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

New Technical Innovations


Control of the 3 D Digital battlefield: need to use 3rd dimension, aerial forces, robotic and mixed initiative forces, untethered communications Adaptive Coordinated Control of Multiple Agents: reconfiguration of teams dynamically in response to adversarial action Intelligent coordination of multiple agents: ability to discover intent and reconfigure strategies adaptively Fusion of Action + Perception + Learning for humans embedded in the midst of automation: Embedded Humans
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Intellectual Organization: Thrust Areas


Architecture Design for Adaptive, Dynamic Planning of air ground assets, robotic manned forces Integration of Rich Multi-Sensor Information into Virtual Environments incorporating human intervention Handling Uncertainty and Adversarial Intent in Adaptive Planning
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Hierarchical Architectures for Dynamic Adaptive Planning


Progess to date in hierarchical architectures for decision making in normal modes of operation. Main emphasis is on replanning in fault or degraded modes of operation including deviations from hierarchical operation. Key technical issues:
Abstractions of Hybrid Systems for Architecture Design
Hierarchical abstractions Assume-guarantee reasoning for abstractions

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Thrust I continued
Toolboxes for Design of Hybrid, Adaptive Control Systems
Principled Embedded Systems Design for UAVs using time triggered architectures Model Predictive Controllers for adaptive obstacle avoidance

Control of Hybrid Systems


Numerical Solutions for Controller Synthesis Hierarchical Solutions of Synthesis Procedures Liveness and other acceptance conditions

Controller Libraries
Many world semantics and hierarchy semantics Modal decomposition
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

hyper
A Useful Toolbox for Hybrid Control Systems Design
Shankar Sastry, Jonathan Sprinkle, Mike Eklund, Ian Mitchell

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

What Are Hybrid Systems?


Dynamical systems with interacting continuous and discrete dynamics

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Why are Hybrid Systems Hard?


Zeno behavior: lack of existence of solutions Lack of continuous dependence on initial conditions

X2

Numerical Solution

Numerical Solution Real Solution

t = t*
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

X1
Slide by Rafael Garcia

Tool Integration
No one tool exists for all of these Several academic toolmakers created HSIF (Hybrid Systems Interchange Format)
Hybrid Systems Interchange Format Failed to mature for a few reasons Tool-specific, and Tool-driven, not capability driven SAL HyVisual Simulink/Sflow Checkmate Not enough programming power behind it No thought to coverage of corner cases
Hybrid Systems Interchange Format (HSIF)
Export: Import: Planned: Partial:

CHARON

GME/HSIF

Teja

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Tool Integration
Example correct output:

What is needed is a framework that utilizes interchange format Must support what we know about hybrid systems semantics, encourage tools integration Implicit tool semantics makes fully meaningful translation impossible, or impractical The proper specification of the semantics of an interchange format would ease this difficulty Leverage HSIF as a learning tool for the semantic specification of the hyper core

RK 2- 3 variable- step solver and breakpoint solver determine sample times:


Note two values at the same time:

Incorrect output:

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Slide by Edward Lee

Example Simulation Tool: HyVisual


Ptolemy IIs HyVisual
Hierarchical component

http://ptolemy.eecs.berkeley.edu/hyvisual/
modal model

dataflow controller

example Ptolemy II model: hybrid control system

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Slide by Edward Lee

What we are doing: Hyper Framework


A new toolbox/toolsuite called hyper with the following characteristics High performance simulation High robustness factor High level modeling (with refinement) High number of interacting tools Provide a formal interchange between tools Low-level fundamental model specifications (a core) Requires a set of implementable functions to call Add a base package with interfaces for interoperability, and a lightweight editor Include industrial-strength solvers through transformations
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Hyper Framework
BASE Package
CORE
model database

Matlab, HyVisual Matlab, HyVisual

Simulators Simulators Simulators Matlab, HyVisual

Extraction Manipulation Editor Verification Engine Engine Verification Engine Verification CheckMate HyTech, LSM,
HyTech, LSM, CheckMate HyTech, LSM, CheckMate

Visualization

Transformations Transformations Transformations XSL, GReAT


XSL, GReAT XSL, GReAT

Interoperability Interfaces
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Hyper Framework
Extensible to other tools Existing examples for integration through HyVisual/LSM A more focused, useful, core interchange format When integrated, allows persistence of legacy models in industry (Matlab/Simulink), now with advantage(s) of synthesis/verification Newer/faster tools can be tested against known true Check for same behavior Can be used for regression testing

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

UAV Research Test bed at Berkeley


Architecture for multi-level rotorcraft UAVs 1996- to date Pursuit-evasion games 2000- 2002 Vision Based landing on pitching decks 2001- to date (transitioning to Army/Socom Maverick/A-160 program, Oct 2005) Multi-target tracking 2001- to date (transitioned to Raytheon (shooter localization), Northrup (pipeline monitoring), Lockheed (ballistic missile defense), demo August 2005) Formation flying and formation change 2002- to date (transition begun to Socom, 160th SOAR, Sikorsky, United Technology) NMPC Based Acrobatic Flying, Conflict Resolution 2003 (transitioned to DARPA/Army UCAR, December 2004 and and Northrup Grumann UCAV-N Program, ) Aerial Pursuit Evasion Games 2003 (transitioned to to Boeing UCAV program, demo at Edwards AFB, June 2004, transition to Army/DARPA UCAR, Feb 2005) Sensor Webs (low bandwidth air dropped sensor webs demonstrated at China Lake, Feb 2004): now Smart Bird personal UAVs Personal back pack sized UAVs (Smart Bird) taskable through PDAs and cell phones, Convoy training, Ft. Hunter Liggett, April 05-ongoing
Adaptive Coordinated Control in 3-D Dynamic Battlefield

Nov 1-2, 3rd Year Review Meeting

Berkeley BEAR Team Fleet Line-up


Ursa Minor 3 (1999~March 2000)
Basic navigation&control system, algorithm, software development and test platform

Ursa Major 1 (Nov. 2002 ~)


Low-cost, high-payload platform Aggressive Maneuver, Vision-based landing Multi-agent scenarios, Model-predictive control

Ursa Magna 1,2 (June 1999~present)


Advanced navigation&control algorithm development platform Multi-agent scenarios, formation flight, Vision-based landing

Ursa Maxima 2 (July 2000~present)


High-payload platform for Multi-agent scenarios, formation flight
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Time Triggered Control system architecture


Time-triggered Embedded Control S/W

GPS

200ms 10ms buffer

INITIALIZE ESTIMATE HOVER 20ms Actuator

INS

10ms

CRUISE

GPS and INS write navigation data to a buffer Controller accesses and reads the buffer with 10ms period Controller writes control outputs to servos with 20ms period

Test Results: Hovering and Cruising

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Ursa Electra1
DC Brushless Motor GPS Antenna

Navigation computer INS on vibration isolation mounting GPS Card Wireless Modem

Length: 1.8 m Width: 0.39m Height: 0.54m Weight: 7.8 kg Rotor Diameter: 1.8m Lithium Polymer Battery Pack 38V, 8000mAh Flight time: 20 min System operation time: 80 min
Nov 1-2, Meeting 3rd Year Review

TDOA

Ultrasonic sensors Battery Packs


Adaptive Coordinated Control in 3-D Dynamic Battlefield

Transition to 160th SOAR and Ft. Rucker

Technology to be transitioned: Autonomous Helicopter Formation Flight Previous work Mesh stability and experimental results New suggestion: Model Predictive Control

MPC for heterogeneous formation Simulation results Implementation issues


Communication Pilot/controller interaction Initiation/Termination of a formation Interrupted by hostile event

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Integration of Multi-Sensor Information Into Virtual Environments


Adaptive Hierarchial Networks for Acquiring and providing information
Networked sensors Bandwidth utilitzation

Extraction of 3 D Models from Distributed Sensors


3 D models from video data Integration of real and virtual environments

Environments for Human Intervention & Decision Making


Situational awareness Display of uncertain data Triaging of data for decision making
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

ACCLIMATE MURI Platform Test: Organic Air Vehicles and UAV Mobile Ground Station in Fort Hunter-Liggett Live-Fire Convoy Training Exercises April 4-9,2005
Perry Kavros, Travis Pynn, Peter Ray and Shankar Sastry University of California, Berkeley

Research Context: Embedded Intelligence


Organic air vehicles (OAVs) provide the vital 3rd dimension in supporting the changing nature of combat Swarms controlled efficiently
formation flying to reach targets change of formation in response to threats

Conflict detection and resolution among OAVs

Terrain avoidance and path planning to avoid threats


determination of adversarys tactics based on geo-temporal situation

Autonomous tasking of resource concentration


autonomous negotiation of targets, logistics and reinforcement

Communication by ad-hoc or peer-to-peer networking

RESEARCH AGENDA: Developing Trusted, Intelligent UAVs Goal: Develop robust autonomous systems that react intelligently within the mission context, interact with other autonomous systems and human operators to achieve mission objectives Majority of currently fielded UAVs are teleoperated or fly preprogrammed missions Intelligent autonomy cannot be achieved without a complete understanding of the mission and warfighters needs
human-centered design approach from warfighters perspective tests in a realistic environment

Integration into warfighting tactics, techniques and procedures

ACCLIMATE Platform Tests at Fort Hunter-Liggett: Live-Fire Exercises Context UAV teleoperation from bunkers, vehicles along route or UAV mobile ground control station OAV terrain recon at 1000 ft and extremely low altitudes along route OAV monitor convoy route outside the surface danger zones

tracking combat operations live video downlinks to convoy commander and tactical operations center via wireless network BEAR activities transparent to training exercises Completely safe insertion of BEAR team experiments (cleared by FHL Range Command) HUGE jamming issues compromised ability to downlink video to tactical operations center during live-fire exercises

SMART BIRD Single-Man Aerial Reconnaisance Tool: Battlefield Information Recon Deployment UC Berkeley, S. Shankar Sastry, PI

Nov 1-2, 3 back-pack size, Adaptive modular, 48 Control in 3-D Single operator, stealth,Year Review hand launch/recovery,Coordinatedelectric-powered wing, 2.5 lb UAV (1 lb payload), 2-mi. range, loitering ability (day/night) without GPS, autopilot (wing leveler & altitude hold), 2.4 GHz video/data downlink, requires no tools for assembly/disassembly Meeting Dynamic Battlefield

rd

The intelligence provided by tactical UAVs might be multiplied considerably if they can flit about undetected.
Unweaving the Web: Deception and Adaptation in Future Urban Operations (Rand 2003)

Altitude-reduced signature

Concealment in vegetation, behind terrain or in ground clutter.

Vertical takeoff from the ground or out of hiding into a near-ground hover for a quick look

BEAR Organic UAVs for FHL LFX


Electric JOKER
Radio-controlled Manufactured by Minicopters (Vellmar, Germany) Stabilized by a Carvec flight control system Pan-tilt-zoom camera control 1.4 m main rotor diameter 2 kg payload 8.0 kg total weight ~15 min maximum flight time Autonomous JOKER (Aug 2004)

Electric SmartBAT
Radio-controlled Hand-launched/hand-recovered Embedded camera, antenna/receiver 48-inch foam wing with EPP leading edge 1 lb payload 2.5 lb total weight 15-70 mph ~90 min maximum flight time Waypoint navigation (~Dec 2005)

Electric Joker with flight and camera stabilization system


Designed for reliable performance at high speed with aggressive aerial techniques Easy transport, launch, recovery, small signature, quiet Controlled from inside vehicle via video downlink to monitor

BEAR autonomous Electric Joker


Designed for perch and stare operations Autonomous launch and landing Waypoint navigation

Vision-based landing (Dec 2005)

Smart Bird takes flight

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

BEAR Organic UAVs teleoperation in the field from live video Electric JOKER helicopter controlled via a screen mounted in a vehicle. Professional-level radio-control pilot skills required. SmartBAT controlled via a plasma screen inside the ARO-sponsored mobile UAV ground control station. Novice-level pilot able to perform most flight maneuvers.

Live video downlink from UAV to convoy commander and tactical operations center Live video imagery from a small helicopter organic UAV is not as spatially disorienting as live video from a small fixed wing UAV which has to repeatedly pass over an area to reacquire a target.

Other real-time links for the tactical operations center BEAR moving map and surveillance camera network video in convoy vehicle used to supplement sand table in convoy training tactical operations center

Ft. Hunter-Liggett Live Fire Exercise command staff and trainees critique the video from the BEAR organic UAV.

Adaptive Coordinated Control in the Multi-Agent 3D Dynamic Battlefield: ADAPTIVE COORDINATED CONTROL OF INTELLIGENT MULTI-AGENT TEAMS (ACCLIMATE)

Vision Based Landing of UAVs


Dr. Christopher Geyer
Carnegie Mellon University
(formerly U.C. Berkeley)

Todd Templeton, Marci Meingast, Mike Eklund, Prof. Shankar Sastry U.C. Berkeley
Supporting cast: David Shim, Hoam Chung, Peter Ray, Travis Pynn

November 1, 2005

3D Terrain from Parallax: Results

Terrain elevation and appearance recovered from flight simulated near Victorville, CA airport Path of vehicle superimposed on map 5 meter average error at 1500m AGL

Uncertainty and Adversarial Intent


Models of Uncertainty
Environmental: non deterministic and probabilistic Adversarial

Guarantees of Success in the face of uncertainty


Decision making in the presence of uncertainty

Learning of Adversarial Strategy


Probing strategies Games, partial information solution concepts Adaptation to changing utility functions of adversary

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Moores Law 2x stuff per 1-2 yr

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Bells Law new computer class per 10 years


log (people per computer)
Number Crunching Data Storage

productivity interactive

Enabled by technological opportunities

streaming information to/from physical world

year Smaller, more numerous and more intimately connected


Ushers in a new kind of application Nov 1-2, 3rd Year many Adaptive Coordinated Control in 3-D Ultimately used inReview ways not previously imagined Meeting Dynamic Battlefield

Instrumenting the world

Fire Response

Vineyards
Great Duck Island
Building Comfort, Smart Alarms

Redwoods
Elder Care Factories

Nov 1-2, 3rd Year Review Adaptive Coordinated Control in 3-D Wind Response Meeting Dynamic Battlefield Of Golden Gate Bridge Soil monitoring

The Sensor Network Challenge


Monitoring & Managing Spaces and Things
applications
data mgmt service

network
system architecture
Comm. MEMS sensing

Store
Proc

uRobots actuate Power

technology
Nov 1-2, 3rd Year Review Meeting

Miniature, low-power connections to the physical world


Adaptive Coordinated Control in 3-D Dynamic Battlefield

Traditional Systems
Application Application

User

System
Network Stack Threads Address Space Transport Network Data Link Physical Layer Drivers

Files

Well established layers of abstractions Strict boundaries Ample resources Independent Applications at endpoints communicate ptpt through routers Well attended

Routers

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

by comparison ...
Highly Constrained resources processing, storage, bandwidth, power Applications spread over many small nodes self-organizing Collectives highly integrated with changing environment and network communication is fundamental Concurrency intensive in bursts streams of sensor data and network traffic Robust inaccessible, critical operation Unclear where the boundaries belong even HW/SW will move
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Mote Evolution

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Sensor Networks Testbed for Urban and Special Force Operations:


Smart Dust, Dot Motes, MICA Motes

Dot motes, MICA motes and smart dust

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

PEG Software Overview



New routing protocols to relax dependency on localization service Remote configuration interface
Solution to a problem, not an original goal

Network reprogramming System layer for remotely invoking disparate services Standard services
Sleep, ping, RF power, blink, network reprogram

MATLAB command-line interface to network Strong decoupling between sensor networks and clients

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

PEG Demo from July 03

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Networked Personnel Detection Sensors


Drop Experiment at 29 Palms, March 2001 Bald Camel Experiments Feburary 17th, 2004, China Lake, Ca NEST Final Demo with 577 unattended ground sensors, August 2005

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Last 2 of 6 motes are dropped from MAV, March 2001

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

BALD CAMEL Overview


Goal: End to end System demonstration of networked personnel sensors
Sensors: Livermore micro-radars (wideband pulsed, 5.8 GHz); 20 m range Target: Individuals, pack animals, vehicles Sensor field: 50 sensors + 2 data exfiltration nodes Network: Peer to peer adhoc network running on TinyOS operating system Radio: 900 MHz spread spectrum, 80m range Exfiltration: Satcom data link over commercial system (Iridium) to Internet Packaging: Polyurethane foam rocks ; air droppable; self orienting antennas Localization: GPS on every node; patch antenna Drop tube: 8 foot long, 9 in. tube - 100 lbs. max (Hellfire-C bomb rack) Re use existing arming and fuzing system Lifetime: 10 days to 3 months Emplacement: Predator, Helicoptor User Interface: Powerscene (PredatorView) - simple upgrade to CAOC system. ADSI messaging. Price goal: $300 / node Response: <2 seconds delay Participants: Berkeley, AEPTech, Livermore, DARPA, Crossbow/Cambridge, Advanteca, MLB, EgLin rd
Nov 1-2, 3 Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Packaged Unit (April 2002)


Camouflage Packaging
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

BALD CAMEL UAV Deployed Ground Sensor Dispensing System Feb 2004
Design, Development and Flight Test of UAV Carriage/Dispensing System For BALD CAMEL Ground Sensor System
Design Compatible With Predator and Hunter UAVs

UAV Carriage

Demonstration Test Helicopter (UAV Surrogate)

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Sensors Being Dispensed

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Ground Pattern
Dry Creek Bed

Road

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Shooter Localization Using SensorWebs, November 2004 at Mc Kenna MOUT site

Berkeley motes and Vanderbilt algorithm

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

NEST Final Experiment: MTT Demo, August 2005


Goal
Track an unknown number of multiple targets using a sensor network of binary sensors without classification information Coordinate multiple pursuers to chase and capture multiple evaders in minimum time using a sensor network
Done in simulation due to physical and time constraints

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

NEST Final Experiment: Summer 2005

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

NEST Final Experiment: Sensor Node


Telos B mote 8MHz TI MSP430 microcontroller RAM: 10kB; Flash: 48kB Chipcon CC2420 Radio: 250kbps, 2.4GHz, IEEE 802.15.4 standard compliant Radio range of up to 125 meters

Trio Sensor Board Features a microphone, a piezoelectric buzzer, x-y axis magnetometers, and four passive infrared (PIR) motion sensors Solar-power charging circuitry
Trio Node
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

NEST Final Experiment: System


Software
TinyOS Deluge Network reprogramming Drip and Drain (Routing Layer) Drip: disseminate commands Drain: collect data DetectionEvent Multi-moded event generator Multi-sensor fusion and multiple-target tracking algorithms
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Indra: Camera Network Testbed


Cory hall 3rd floor DVR on 1st floor operations room 4 omnicams/12 perspective cameras

directional

omni
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Distributed Tracking, May 2005

Issues: Distributed multiple-target tracking and identity management [Oh, Hwang, Roy, Sastry, 2005] Representation (low communication cost, high performance)
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Technical Cooperation
Army Labs and Sites ARL (POC: Emmerman, Kolodny) 160th SOAR, Ft. Campbell SOCOM, Chris Whitaker Fort Benning, Ga MOUT site Other Government Labs AFRL Wright Patterson (Banda, Bortner, Koenig) SOCOM (Secunda) USMC bases, Quantico, 29 Palms (POC: Col. (retd) Kiers, Brig Gen (retd.) Holcomb), NASA (Meyer, Tobias)
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Technology Transfer
Industrial Partners
Honeywell, Minneapolis (Datta Godbole, Tariq Samad) Boeing Phantom Works, St. Louis (Dave Corman, Jim Paunicka, Jared Rossom) Northrup Grumann, Los Angeles (Robert Miller, Omid Shakernia) Lockheed Missiles & Space, Palo Alto (Jim Ryder, Prasanta Bose) Raytheon, Fairfax (Bob Berzedevin) Sikorsky (Clas Jacobsen, Mihai Huzmezan) Aerospace Corporation (Kirstie Bellman)
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Third Year Review Program: November 1st , 2005


Thrust I Architectures for Multi-Vehicle Collaboration 9:55-11:35 am Pappas, Overview 30 minutes Agung 20 minutes Chitta 20 minutes Thrust II Multi-Media Environments for aiding decision making 11:30 3:00 pm (including working lunch) Kumar Overview 30 minutes Taylor 25 minutes Cowley 15 minutes Geyer 30 minutes Daniilidis, 30 minutes

Thrust I and II Demonstrations and Posters 3:10 5:30 pm

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

Third Year Review Program: November 2nd Thrust III. Learning and Adaptation in the Presence of Uncertainty June 8th 9:0011:30 Sastry and Oh, Overview 40 minutes Shim 30 minutes Chung 30 minutes Ahammad and Meingast 30 minutes Government Caucus 11:25 to 1 pm. Wrap Up and Feedback 1:00 1:30 pm.
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield

Backups

Nov 1-2, 3rd Year Review Meeting

Adaptive Coordinated Control in 3-D Dynamic Battlefield

You might also like