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1、CascadedFilterApproachtoMulti-ObjectiveControlBryanJ.Thibodeau,StephenW.Hart,DeepakR.Karuppiahy,JohnD.Sweeney,andOliverBrockLaboratoryforPerceptualRoboticsyComputerVisionLaboratoryComputerScienceDepartmentUniversityofMassachusettsAmherstfthibodea,shart,deepak,sweeney,o
2、lig@cs.umass.eduAbstract—Inthispaperweproposeanewapproachformulti-complexconictsbetweenobjectivesthatthecontrolsystemobjectivecontrolusingacascadeofltersthatprogressivelyre-mustresolve.movescandidatecommandswhichdonotsatisfytaskconstraints.Theapproachismotivatedbyoth
3、ercontrolmethodsthatpreventII.RELATEDWORKdestructivecontrolinteractionsthroughnullspaceprojections.A.Multi-ObjectiveControlWeapplythisapproachtoapracticalleader/followertaskinwhichamobilerobotmustaddresstheconictingobjectivesofTheleader/followertaskforateamofrobotsisa
4、well-movingtoagoalpositionwhileavoidingobstaclesandkeepingknownprobleminthedomainofmulti-robotformationcon-aregionoftheworkspacewithintheeldofviewofaxedtrol[5].Tosuccessfullycompletethetask,therobotsmustcameramountedontheplatform.Weexperimentallyverifyourapproachusin
5、gtheSegwayRoboticMobilityPlatform(RMP),aavoidobstacleswhilecoordinatingtheirmotiontomain-dynamicallystable,differentialdrivemobilerobot.taincommunication.Yang[17]presentsanullspacecom-positionapproachforaddressingmultipleobjectivesinaI.INTRODUCTIONleader/followersearch
6、task.Inourtask,wedonotconsidermulti-robotcooperation,however,themulti-objectivenatureAsboththephysicalcapabilitiesofautonomousrobotsandoftheproblemremains.Otherrelatedworkincludesthethecomplexityofthetaskswedemandofthemincrease,AuRAarchitecture,developedbyArkinetal.[1]
7、whichitbecomesimperativeforsystemprogrammerstohaveacomputescontrolactionsasweighted,linearcombinationsclearandintuitiveframeworktoimplementmultipleconcur-ofnon-linearmotorschemata,andthelexicographicmethodrentbehaviors.Ingeneral,therobotmustbeabletomakeformulti-objecti
8、vedecisionmakingwhichreliesonfunctiondecisionsthatsatisfymultiple,possiblyconictingobjectivesoptimization[12].whileu
