Magellan : a robust executive enabling long horizon multi-agent campaigns

Autonomous mobile systems are being tasked to perform increasingly complex missions. These campaigns frequently involve the coordination of agents with continuous dynamics to achieve multiple goals over long horizons and often occur in hazardous environments that can change unpredictably. Campaigns are specified by hybrid activity plans, featuring both finite domain and real-valued variables. This thesis introduces a robust, centralized executive, Magellan, to facilitate the execution of long horizon hybrid campaigns. Previous hybrid execution approaches address the challenges of generating dynamically feasible trajectories that satisfy the goals of a higher level plan. However, these executives do not scale well to campaigns with long horizons or multiple agents. By leveraging the insights of previous work, Magellan robustly executes campaigns specified by hybrid activity plans, while monitoring, and adapting to, disturbances on-the-fly.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2020

Author dc:creator

• Reeves, Marlyse Helena.

Advisor dc:contributor.advisor

• Brian C. Williams.

• Electrical Engineering and Computer Science.

Statement dc:rights

• MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/128344

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/128344