Control of Automa-teams
California Institute of Technology
This project is part of the DARPA Mixed Initiative Control of Automa-teams
(MICA) program. Caltech is part of two MICA projects:
Stochastic, Hierarchical, Adaptive, Real-Time Control (SHARC): This
project is lead by Alphatech, with Caltech, Cornell, UCLA, and MIT as team
members. The goal of this program is to develop unmanned vehicle misson
control systems that have variable initiative functionality; scalable, real-time
performance; proactive, near optimial solutions; and are applicable to a
wide spectrum of unmanned vehicle systems.
- Human Centered, Variable Initiative Control of Complex Automata-Teams:
This project is lead by Cornell, with Caltech, Catholic University of
America, and Smart Information Flow Technologies (SIFT). The goal of this
program is to develop and demonstrate an architecture for realistic (semi)autonomous
systems composed of a small number of human operators controlling a large
number of mobile vehicles.
This web page contains information on the Caltech activities associated with
both of these programs.
Several papers and software packages are available describing the developed
in this program. Some of the links below describe work done under other programs
that are further built upon here. The source of the funding for work not supported
by the MICA program is listed in brackets at the end of the entry.
- A Library for Real-Time Trajectory Generation, Mark Milam, Kudah Mushambi,
Richard Murray. Version 2.2, 2 February 2002 [SEC].
Caltech Multi-Vehicle Wireless Testbed, Lars Cremean, William Dunbar,
David van Gogh, Jason Hickey, Eric Klavins, Jason Meltzer, Richard M. Murray.
Submitted, Conference on Decision and Control (CDC), 2002 [DURIP].
Faculty: Richard Murray (PI; ME/CDS), Jason Hickey (CS)
Postdocs: Feng-Li Lian (CDS), Adam Hayes
Students: Zhipu Jin, Dave van Gogh, Steve Waydo