Semi-Autonomous Cooperative Control

Program Description

The objective of this program is to develop, both theoretically and experimentally, an architecture for realistic semi-autonomous systems composed of human operators and different mobile vehicles using a variable initiative goal setting that achieves a core objective: N vehicles >> M operators. There are four primary elements of to this architecture: Human Interface: Developing the human interface requirements, and scaling insights, for M=1 and M>1 operators using cognitive engineering, Variable Initiative Control: Developing variable initiative control strategies with humans in the loop (M=1 and M>1), including novel concepts such as operator “shape” control of the team and football “Playbook” analogies. These are supported by technologies from leveraged programs and those developed here, such as a “World State” (“centralized knowledge, decentralized execution.”) concept in an uncertain environment, Experimental Validation using RoboFlag: evaluating algorithms and concepts in an experimental competition called RoboFlag, and Technology Transition: Transitioning the technology to MICA partners as well as the outside community, especially government users such as the US Air Force.

The Cornell led team has focused on a variety of technoloqies for this program, including streamline path planning and extensions, cooperative reconnaissance, the RoboFlag system for adoption within community, Roboflag human in the loop studies, and team tasking.

Sponsors

DARPA MICA, AFRL

Staff and Students

Publications

• D. Schneider, M. Campbell, “Real Time Optimal Task Allocation in Highly Dynamic Environments,” submitted to the ASME Journal of Dynamic Systems, Measurement and Control.
• D. Schneider, M. Campbell, “Real Time Optimal Task Allocation in Highly Dynamic Environments,” ASME International Mechanical Engineering Congress and Exposition, Nov 2005.
• M. Campbell, R. D’Andrea, J.-W. Lee, and E. Scholte, “Experimental Demonstrations of Semi-Autonomous Control,” 2004 American Control Conference, June 2004.
• Veverka, J. and Campbell, M., “Experimental Study of Information Load on Operators in Semi-Autonomous Systems,” 2003 AIAA Guidance, Navigation and Control Conference, Austin TX, Aug. 2003.
• J. Sullivan, S. Waydo, and Campbell, M., “Using Stream Functions to Generate Complex Behavior,” 2003 AIAA Guidance, Navigation and Control Conference, Austin TX, Aug. 2003.
• A. I. Chaudhry, R. D’Andrea, and M. Campbell, “RoboFlag – A Framework for Exploring Control, Planning, and Human Interface Issues Related to Coordinating Multiple Robots in a Realtime Dynamic Environment,” 11th International Conference on Advanced Robotic, Portugal, June 2003.
• Campbell, M., D’Andrea, R., Schneider, D., Chaudhry, A., Waydo, S., Sullivan, J., Veverka, J., Klochko, A., “RoboFlag Games using Systems Based, Hierarchical Control,” American Control Conference, June 2003.
• Campbell, M., D’Andrea, R., Schneider, D., Chaudhry, A., Waydo, S., Sullivan, J., Veverka, J., Klochko, A., “RoboFlag Games using Systems Based, Hierarchical Control,” American Control Conference, June 2003.