As robots are deployed beyond the laboratory and into the field, the method with which they interact with their operators is vital to efficient and optimal use. This paper describes the design and implementation of a supervisory control architecture that enables the straightforward operation of multiple complex robots.The design was inspired by the flexibility and scalability of the real-time strategy (RTS) game interface paradigm. However, the basic RTS architecture had to be substantially adapted to accommodate the constraints of field robot operation. Initial experimental results show that this familiar and tested interaction paradigm is applicable for complex robotics systems.
In this paper, a new cooperative guidance scheme is proposed capable of driving n number of missiles to impact time consensus in the presence of a time varying and or switching communication topology. Cooperative stability is preserved under this paradigm as well. In addition, the proposed scheme yields target intercept trajectories through a parameterization process which are optimal in the sense that trajectory separation from the missile/target relative line-of-sight is minimized.speed of th i missile x V = range velocity i ω = angular speed of th i missile ( ) k t S = time varying communication matrix z = parameterized trajectory 0 z = parameterized trajectory inital condition T z = parameterized trajectory terminal position u = control inputs b = parameterized trajectory coefficients C = steering control coefficients σ = inertial speed projection angle on line-of-sight λ = line-of-sight angle
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