Projektbeschreibung
Ein dezentraler Kontroll- und Planungsansatz für komplexe Systeme
Herkömmliche Kontrollmethoden sind oft nicht in der Lage, komplexe Systeme mit mehreren miteinander verbundenen Teilen zu steuern. Das Ringen um widersprüchliche Spezifikationen in Echtzeit und damit verbundene Einschränkungen zwischen Staaten können überwältigend sein. Über das ERC-finanzierte Projekt BUCOPHSYS wird eine bahnbrechende Lösung vorgeschlagen, die dezentrale Steuerungs- und Planungsansätze vereint und damit die Bereiche Steuerung und Informatik revolutioniert. Konkret wird ein dezentraler Bottom-up-Ansatz vorgeschlagen, der drei Interaktionsebenen umfasst. In der ersten Ebene koordinieren sich die Agenten, um ihre gekoppelten Einschränkungen mit begrenzter Kommunikation und geeigneten Rückkopplungsreglern zu erfüllen. In der zweiten Ebene koordinieren sich die Agenten, um ihre diskreten Aufgaben durch den Austausch entsprechender Pläne in Form von Automaten gegenseitig zu erfüllen. Die dritte Ebene des Kommunikationsaustauschs umfasst sowohl kontinuierliche Zustands- als auch diskrete Plan-/Abstraktionsinformationen.
Ziel
Current control applications necessitate the treatment of systems with multiple interconnected components, rather than the traditional single component paradigm that has been studied extensively. The individual subsystems may need to fulfil different and possibly conflicting specifications in a real-time manner. At the same time, they may need to fulfill coupled constraints that are defined as relations between their states. Towards this end, the need for methods for decentralized control at the continuous level and planning at the task level becomes apparent. We aim here towards unification of these two complementary approaches. Existing solutions rely on a top down centralized approach. We instead consider here a decentralized, bottom-up solution to the problem. The approach relies on three layers of interaction. In the first layer, agents aim at coordinating in order to fulfil their coupled constraints with limited communication exchange of their state information and design of appropriate feedback controllers; in the second layer, agents coordinate in order to mutually satisfy their discrete tasks through exchange of the corresponding plans in the form of automata; in the third and most challenging layer, the communication exchange for coordination now includes both continuous state and discrete plan/abstraction information. The results will be demonstrated in a scenario involving multiple (possibly human) users and multiple robots.
The unification will yield a completely decentralized system, in which the bottom up approach to define tasks, the consideration of coupled constraints and their combination towards distributed hybrid control and planning in a coordinated fashion require for
new ways of thinking and approaches to analysis and constitute the proposal a beyond the SoA and groundbreaking approach to the fields of control and computer science.
Wissenschaftliches Gebiet
- natural sciencesmathematicsapplied mathematicsdynamical systems
- engineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringsensorssmart sensors
- natural sciencescomputer and information sciences
- engineering and technologyelectrical engineering, electronic engineering, information engineeringelectrical engineering
- engineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringrobotics
Programm/Programme
Thema/Themen
Finanzierungsplan
ERC-STG - Starting GrantGastgebende Einrichtung
100 44 Stockholm
Schweden