Partitioned searching and deconfliction: Analysis and flight tests

Autor:	John Vian, Jung Soon Jang, Juris Vagners, Christopher W. Lum
Rok vydání:	2010
Předmět:	Structure (mathematical logic) Engineering business.industry Reliability (computer networking) Control (management) Real-time computing Probabilistic logic Brute-force search Mobile robot Modular algorithm Motion planning business
Zdroj:	Proceedings of the 2010 American Control Conference.
DOI:	10.1109/acc.2010.5531472
Popis:	Searching a complex environment for a hidden target is a common problem encountered by many autonomous systems. Many modern autonomous systems use a hierarchical structure for mission management where different algorithms perform different tasks to give agents desired behavior. This work investigates a search policy that guarantees both an exhaustive search of the map and conflict free paths of all agents. Agents formulate control decisions for a fixed number of time steps using a modular algorithm that allows parameterizations of agent capabilities. High fidelity simulation and flight test data using multiple autonomous vehicles are used to verify and validate the algorithms in real time.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::47f31f32f28c9368a445d1e111adbc42 https://doi.org/10.1109/acc.2010.5531472 Zobrazit plný text záznamu