Daniel W. Palmer

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Traditional control approaches fall well short of the necessary flexibility and efficiency needed to meet the commercial and military demands placed upon UAV swarms. Effective coordination of these swarms requires development of control strategies based on emergent behavior. We have developed a rule-based, decentralized control algorithm that relies on(More)
SUMMARY The Air Force Research Laboratory has identified multiple spacecraft formation flying as an enabling technology for several future space missions. A key benefit of formation flying is the ability to reconfigure the spacecraft formation to achieve different mission objectives. In this paper, generation of fuel optimal manoeuvres for spacecraft(More)
− A collection of agents, faced with multiple tasks to perform, must effectively map agents to tasks in order to perform the tasks quickly with limited wasted resources. We propose a decentralized control algorithm based on synchronized random number generators to enact a cooperative task auction among the agents. The algorithm finds probabilistically(More)
Multi-agent systems must be engineered to ensure that desirable system-level properties will consistently emerge from the complex interactions of the underlying agents, while also guaranteeing that undesirable behavior will be suppressed. We present an Aspect-Oriented Programming (AOP) framework for modeling, visualizing and manipulating emergent structure(More)
–Current Mars exploration and science is limited to orbiters and areas close to original rover landing sites. Most of the places of geological interest lay many kilometers outside of suitable landing sites. In-situ resources such as wind can enable rovers to travel great distances on Mars while using little internal power. In this paper, a dynamic model of(More)
Directly detecting thermal emission from young extrasolar planets allows measurement of their atmospheric compositions and luminosities, which are influenced by their formation mechanisms. Using the Gemini Planet Imager, we discovered a planet orbiting the ~20-million-year-old star 51 Eridani at a projected separation of 13 astronomical units. Near-infrared(More)