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THE UNIVERSITY OF TEXAS AT ARLINGTON Forum: ‘Controls and Uses of Autonomous Vehicles' Welcome

Today’s Agenda Welcome Remarks by President Karbhari Overview by Jim Grover Presentations by ‒ Frank Lewis ‒ Yan Wan ‒ Animesh Chakravarthy ‒ Nick Gans Share your research initiatives Group Activity

Forum on Controls and Uses of Autonomous Vehicles James P. Grover, Ph.D. Interim Vice President for Research

Autonomous Vehicle Types Unmanned Surface and Underwater Unmanned Aerial Vehicle (UAS) Unmanned Ground Vehicle (UGS) Vehicle (USV and UUV) http://www.ciobulletin.com/retail/amazon-prime- http://theconversation.com/what-if- https://www.unmannedsyste https://www.dezeen.com/201 air-drones autonomous-vehicles-actually-make-us- 8/03/27/mit-reveal-life-like- mstechnology.com/wp- more-dependent-on-cars-98498 content/uploads/2013/12/C- soft-robotic-fish- documenting-marine-life- Enduro-USV1.jpg technology/

Broad Applications Aerial Taxi Cargo Transport Traffic Surveillance Land Survey Precision Agriculture Sports Coverage Personal Assistance Emergency and Disaster Response Environmental Monitoring Infrastructure Health Monitoring

Business Trend Global Autonomous Vehicles market accounted for $27.09 billion in 2017 and is UAV market is expected to grow US$ 51.85 billion by expected to reach $615.02 2025 from US$ 11.45 billion billion by 2026 growing at a in 2016. CAGR of 41.5%.

Multi-disciplinary Techniques • Autonomous vehicles are integrated systems that are service oriented, and hence require multi-disciplinary techniques that span – Embedded systems – Sensors – Cyber-physical systems – Communication – Control – Intelligent Transportation – Various application domains – Mechanical and electrical systems in civil engineering, – Human-machine interaction business, biology, – Security, privacy, certification environmental science, – Data science urban planning, etc. – Machine learning

UTA Unique Position • We have broad engineering disciplines that offer all the relevant expertise, including the only Aerospace program offered in the DFW area. • Located in DFW, surrounded by leading industry players in the autonomous vehicle domain, including Bell, L-3, Lockheed, AT&T, Toyota, Airbus, Boeing, etc. • Solid track record with sustained success in funding and funded research

UTA Track of Record • Extensively funded research in this domain from NSF, Lockheed, Ford, ONR, ARO, AFOSR, AFRL, FAA, etc. • Winning national competitions such as AFRL Search and AI challenge • Close established collaboration with local agencies and industries for successful technology transfer

Federal Recognition • Pentagon Unmanned Systems Integrated Roadmap highlights the needs of DoD in the near and future term: advanced autonomy, manned/unmanned interoperability, network security, human-machine collaboration • A Roadmap for US Robotics (presented to congress) includes focus on unmanned vehicles – Highlights opportunities in transportation (people and goods), inspection, security and rescue, environmental monitoring – Highlights needs in intelligent infrastructure, safe navigation and control algorithms, advanced sensors/perception, human/machine information sharing, robustness/security • A Roadmap for US Robotics observes that the U.S. can only capitalize on advancements in robotics and automation if instruction in robotics technologies is broadly available at all levels of the education system, from K-12, vocational, undergraduate and graduate programs.

Funding Opportunities • DOD announced $4B a year to unmanned systems across all DoD branches and offices • National Robotics Initiative 2.0: Ubiquitous Collaborative Robots (multiple agencies under NSF lead) • NSF announced AI Research Institute in 2019

Legal and Regulatory • Arguably behind the curve • Twenty-nine states, including Texas, have enacted legislation related to autonomous vehicles • Texas is rather limited: allows for automated braking, allows use of autonomous ground vehicles, defines owners and operators, preempts city legislation • Governors in eleven have issued executive orders related to autonomous vehicles. • National Highway and Transportation Safety Administration released federal guidelines for Automated Driving Systems in 2016 and updated in 2019 • U.S. House of Representatives has passed legislation and U.S. Senate has legislation in committee

Goals of this Forum • Get to know faculty who are interested and better understand UTA expertise • Identifying trends and future directions and sustain UTA leadership • Identifying existing funding opportunities and support faculty activity in securing them • Discuss what UTA can do to promote research in unmanned vehicles • Form collaborative working groups to address national center- type funding opportunities

Forum on Controls and Uses of Autonomous Vehicles Frank L. Lewis, Ph.D., NAI Moncrief-O’Donnell Endowed Chair, UTA Research Institute Professor of Electrical Engineering, UTA

F.L. Lewis National Academy of Inventors Moncrief-O’Donnell Chair, UTA Research Institute (UTARI) The University of Texas at Arlington, USA with Yan Wan Nick Gans Ali Davoudi Patrik Kolaric Yusuf Kartal Victor Lopez Activities in Automatic Control, Multi-agent Game Theory, Autonomous Intelligent Vehicles Supported by : US NSF ONR, ARO, AFOSR Talk available online at http://www.UTA.edu/UTARI/acs

UTA Research Institute Autonomous Systems Lab Patrik Kolaric Yusuf Kartal Victor Lopez

UTARI Autonomous Systems Lab UAV platforms- Parrot AR Drone quadcopters Human/Autonomous Systems interactions:  Interactive Control of multiple UAV / UGV  Multiagent decision for autonomous driverless vehicles  Autonomous navigation and motion planning for UAV / UGV  Human Interfaces using voice control, gesture control  Synchronization and collective control in multi-agent autonomous teams  Neurocognitive Reinforcement Learning for autonomous control DR Robot V4 DR Robot Jaguar 4x4 Human User Interfaces

Current funding of $1.5 M in ONR and NSF grants US Army Relevance. Decision and Control of Multi-Agent Teams. Received leveraging funding from US Army TARDEC, Ground Vehicle Robotics . Working with Dr. Dariusz Mikulski and Dr. Greg Hudas.  Develop efficient learning mechanisms for military teams of humans and autonomous systems.  Study Risk and Trust methods to develop coalitions in changing environments.  Single User control of Multiple UAV/UGV. US Navy Collaborations. Work with Brian Holm-Hansen at ONR, Gary Hewer at NAWS China Lake, Dr. Wei Kang at US Naval Postgraduate School in Monterey.  Reinforcement Learning for Improved Control of Unmanned Aerial Vehicles.  Autonomous Decision for Multi-body Intelligent Systems US Air Force Relevance of Research in Coordination and Control of Multiple UAV Teams. Received leveraging funding from Kevin Bollino at AFOSR EAORD Europe.  New methods for human coordination of multiple UAV systems.  Trust-based learning mechanisms for improved performance and risk reduction of autonomous systems. Dual-Use Tech Transfer to Industry: Current Contracts Boeing Defense Space & Security. Adaptive Controller for Phantom Ray Unmanned Aircraft. Various Companies. Bio-inspired Learning for Data-driven Industrial Process Control. Dual-Use Tech Transfer to Electric Power Microgrids: Multi-agent control of distributed renewable generation- Resilient distributed protocols for improved response of microgrids. Applications to Army Bases as microgrids.

Current Funding 1. F.L. Lewis and Yan Wan, “Fast Autonomous Vehicle Driving Decision based on Learning and Rule-based Cognitive Information,” Ford Contract for 3 years, $150K. April 2019-April 2022 2. F.L. Lewis and Yan Wan, “Heterogeneous Autonomous Sensor Networks for Optimizing Locomotion,” $50,000 contract from Lockheed Martin Advanced Technology Labs, Feb.-Dec. 2019. 3. F.L. Lewis, Yan Wan, and Kyriakos Vamvoudakis, “Workshop on Distributed Reinforcement Learning and Reinforcement Learning Games,” ARO grant, $30,000, April-June 2019. 4. F.L. Lewis, Yan Wan, and Ali Davoudi, EAGER: Real-Time: Collaborative Research: Unified Theory of Model- based and Data-driven Real-time Optimization and Control for Uncertain Networked Systems, NSF grant, $220,000, September 2018-August 2020. 5. F.L. Lewis and Yan Wan, “Optimal Design for Assured Performance of Interactive Multibody Systems,” ONR Grant, $815,000, June 2018-May 2022. 6. A. Davoudi, F.L. Lewis, and C. Edrington, “Distributed Autonomy, Resiliency, and Optimality in Naval Microgrids,” ONR grant, $449,000, March 2017-March 2020.

Textbooks in Aircraft Control, Autonomous Systems, Machine Learning, Robotics, Multi-agent Systems 400 journal papers 7 US Patents in Control Using Machine Reinforcement Learning, Multiagent Cooperative Control, Neural Adaptive Control, Intelligent Resource Assignment