Control of Networks of Unmanned Vehicles
(joint work with Joao Hespanha, Hyoun Jin Kim, Maria Prandini,
Omid Shakernia, Cory Sharp, David Shim, and John Koo and Rene Vidal.)
Department of Electrical Engineering and Computer Sciences
2. Air Traffic Management Systems (ATMS)
3. Unmanned Aerial Vehicles
Over the last five years or so, a group of us have developed a set of design approaches which are aimed at designing control schemes which are live, deadlock free, and “safe”. Our design methodology is to be considered an alternative to the verification based approaches to hybrid control systems design, and is an interesting blend of game theoretic ideas, planning and fault handling in a probabilistic framework, mathematical and temporal logic and planning ideas from robotics. In today's talk, I will focus on design problems involved in coordinating groups of Unmanned Aerial Vehicles (UAVs). Problems to be addressed include:
1. Design of embedded software for real-time control.
2. Vision based landing and navigation.
3. Pursuit Evasion problems for multi-UAV missions.
The last set of issues touches on issues of decentralized map making, computationally tractable solutions of pursuit evasion games with partial information and probabilistic verification.
Shankar Sastry became
Chairman, Department of Electrical Engineering and Computer Sciences,
Sastry received his Ph.D. degree in 1981 from the
Nonlinear Systems: Analysis, Stability and Control is Dr. Sastry's latest book, published by Springer-Verlag in 1999. He has coauthored over 250 technical papers and 8 books, including Adaptive Control: Stability, Convergence and Robustness (with M. Bodson, Prentice Hall, 1989) and A Mathematical Introduction to Robotic Manipulation (with R. Murray and Z. Li, CRC Press, 1994). He has co-edited Hybrid Control II, Hybrid Control IV and Hybrid Control V (with P. Antsaklis, A. Nerode, and W. Kohn, Springer Lecture Notes in Computer Science, 1995, 1997, and 1999, respectively) and co edited Hybrid Systems: Computation and Control (with T. Henzinger, Springer-Verlag Lecture Notes in Computer Science, 1998) and Essays in Mathematical Robotics (with Baillieul and Sussmann, Springer-Verlag IMA Series). Books on Embedded Software and Structure from Motion in Computer Vision are in progress.
Dr. Sastry served as Associate Editor for numerous publications, including: IEEE Transactions on Automatic Control; IEEE Control Magazine; IEEE Transactions on Circuits and Systems; the Journal of Mathematical Systems, Estimation and Control; IMA Journal of Control and Information; the International Journal of Adaptive Control and Signal Processing; Journal of Biomimetic Systems and Materials.
Dr. Sastry was elected into the National Academy of Engineering in 2001 "for pioneering contributions to the design of hybrid and embedded systems." He also received the President of India Gold Medal in 1977, the IBM Faculty Development award for 1983-1985, the NSF Presidential Young Investigator Award in 1985 and the Eckman Award of the of the American Automatic Control Council in 1990, an M. A. (honoris causa) from Harvard in 1994, Fellow of the IEEE in 1994, the distinguished Alumnus Award of the Indian Institute of Technology in 1999, and the David Marr prize for the best paper at the International Conference in Computer Vision in 1999.
has supervised 45 doctoral students to completion and over 50 MS students. His
students now occupy leadership roles in several locations such as Dean of
Engineering at Caltech, Director of Information Systems Laboratory, Stanford,
Army Research Office, and on the faculties of every major university in the