David A. Schoenwald

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This paper describes how decentralized control theory can be used to analyze the control of multiple cooperative robotic vehicles. Models of cooperation are discussed and related to the input/output reachability, structural observability, and controllability of the entire system. Whereas decentralized control research in the past has concentrated on using(More)
Autonomous unmanned vehicles (AUVs) have generated much interest in recent years due to their great promise for performing repetitive, dangerous, or information-gathering tasks in hazardous or remote environments. The diversity of environments in which these vehicles must operate (space, air, water, ground, and combinations thereof) results in a wide(More)
Approved for public release; further dissemination unlimited. of the United States Government. Neither the United States Government, nor any agency thereof, nor any of their employees, nor any of their contractors, subcontractors, or their employees, make any warranty, express or implied, or assume any legal liability or responsibility for the accuracy,(More)
In this paper, we consider a new inventory control technique for large-scale supply chains including repairs. The part flow is bidirectional with broken parts propagated upstream for repair. It is well known that available optimization techniques for inventory control for bidirectional stochastic supply chains are computationally intractable and also(More)
Researchers at Sandia National Laboratories have developed a next-generation agent-based economic 'laboratory' (N-ABLE) for analyzing the economic factors, feedbacks, and downstream effects of infrastructure interdependencies. N-ABLE is a simulation environment in which hundreds of thousands of individual economic actors simulate real-world manufacturing(More)
Traditional grid models for large-scale simulations assume linear and quasi-static behavior allowing very simple models of the systems. In this paper, a scalable electric circuit simulation capability is presented that can capture a significantly higher degree of fidelity including transient dynamic behavior of the grid as well as allowing scaling to a(More)
With increasing renewable penetrations and advancements in power electronics associated with smart grid technologies, distributed control of the power grid is quickly becoming a necessity. Once communications are introduced into a control system, the impacts of latency and unreliable communications quickly become a priority. Vector Lyapunov techniques are(More)
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