Show simple item record

dc.contributor.advisorHorner, Douglas P.
dc.contributor.authorWachlin, Noah
dc.date.accessioned2018-08-24T22:34:42Z
dc.date.available2018-08-24T22:34:42Z
dc.date.issued2018-06
dc.identifier.urihttp://hdl.handle.net/10945/59612
dc.descriptionApproved for public release. distribution is unlimiteden_US
dc.description.abstractAn adaptive formation controller is developed to position nodes within a mobile Network Control System (NCS) composed of heterogeneous agents. Each node is represented with distinct capabilities and constraints with regard to communications, sensing, and mobility. Metrics used to quantify network robustness are developed for weighted graphs. Formation control is implemented to position nodes relative to virtual leaders. A utility function that encapsulates the sensing, communications, robustness, and dynamics of the NCS is designed and shown to be submodular. Submodular function maximization is then used to adaptively recompute the optimal formation in simulation. Submodularity is a property of set functions, which guarantees near-optimal performance if a greedy algorithm is used to iteratively select node locations. This effectually reduces the NP-hard combinatorial optimization problem to a polynomial time process. The greedy algorithm is used to adaptively recompute the optimal formation in simulation. This controller reduces the complexity of employing large numbers of autonomous agents in support of competing objectives.en_US
dc.description.urihttp://archive.org/details/robusttimevaryin1094559612
dc.publisherMonterey, CA; Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titleROBUST TIME-VARYING FORMATION CONTROL WITH ADAPTIVE SUBMODULARITYen_US
dc.typeThesisen_US
dc.contributor.secondreaderKragelund, Sean P.
dc.contributor.departmentMechanical and Aerospace Engineering (MAE)
dc.subject.authornetwork robustnessen_US
dc.subject.authornetwork control systemsen_US
dc.subject.authorformation controlen_US
dc.subject.authoradaptive submodularityen_US
dc.subject.authorcombinatorial optimizationen_US
dc.subject.authorheterogeneousen_US
dc.subject.authormulti-domainen_US
dc.subject.authorsensor placementen_US
dc.description.serviceEnsign, United States Navyen_US
etd.thesisdegree.nameMaster of Science in Mechanical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
dc.identifier.thesisid30059


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record