Baltimore, Maryland, USA, June 29, 2010, 8:30am to 5:00pm
Francesco Bullo, University of California, Santa Barbara
Ketan Savla, Massachusetts Institute of Technology
Stephen L. Smith, Massachusetts Institute of Technology
Emilio Frazzoli, Massachusetts Institute of Technology
Marco Pavone, Massachusetts Institute of Technology
The workshop will present a joint algorithmic and queueing approach to the design of cooperative control and task allocation strategies for networks of uninhabited vehicles (UVs). The key novelty is the introduction of stochastic, combinatorial and queueing aspects in the context of distributed coordination of multi-agent networks. The proposed work builds upon our recent breakthroughs in the design of dynamic vehicle routing (DVR) algorithms; these algorithms lead vehicles to complete dynamically-generated tasks with random locations and characteristics.
We will present recent work on coordination, planning and routing algorithms for the efficient discovery and timely servicing of tasks that are not known a priori. As in queueing theory, task arrival is modeled as a stochastic process, and queueing-style algorithms are required to enable UVs to search, identify, allocate, prioritize, plan paths, and form teams. DVR algorithms are typically based on a combination of receding-horizon resource allocation, distributed optimization, combinatorics and control.
A printed and bound copy of the following matereial will be provided to all workshop attendees:
the workshop description (pdf)
the 8 lectures (pdf)
a survey article (recent submission to the Proceedings of the IEEE) (pdf)
| 8:00am-8:25am | Coffee | ||
| 8:25am-8:30am | Welcome and Introduction | ||
| 8:30am-9:00am | Lecture #1: Introduction to dynamic vehicle routing | (pdf) | FB |
| 9:05am-9:50am | Lecture #2: Prelims: graphs, TSPs, and queues | (pdf) | SLS |
| 9:55am-10:40am | Lecture #3: The single-vehicle DVR problem | (pdf) | KS |
| 10:40am-11:00am | Break | ||
| 11:00am-11:45am | Lecture #4: The multi-vehicle DVR problem | (pdf) | FB |
| 11:45am-1:10pm | Lunch Break | ||
| 1:10pm-2:10pm | Lecture #5: Extensions to vehicle networks | (pdf) | FB, KS |
| 2:15pm-3:00pm | Lecture #6: Extensions to different demand models | (pdf) | SLS |
| 3:00pm-3:20pm | Coffee Break | ||
| 3:20pm-4:20pm | Lecture #7: Extensions to different vehicle models | (pdf) | KS |
| 4:25pm-4:40pm | Lecture #8: Extensions to different task models | (pdf) | SLS |
| 4:45pm-5:00pm | Final open-floor discussion | ||
Lunch break will be 11:45am-1:10pm. Coffee will be served at 8:00am and 3:00pm. We will also have a break at 10:40-11:00am.