Controlling and simulating teams of networked vehicles with degraded sensors and communications

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Authors
  1. Richards, A.
Corporate Authors
Defence R&D Canada - Ottawa, Ottawa ONT (CAN);Royal Military Coll of Canada, Kingston ONT (CAN)
Abstract
As part of the TIF project 12pz18: Self-Healing Networked Control Systems For Enhanced Reliability And Safety Of Multivehicle Missions, we are investigating methods for controlling teams of autonomous vehicles in situations with degraded communications and other challenges. We formally define the problem space, describing baseline and modified scenarios. The baseline scenario involves searching points of interest for targets in a bounded region. The modified scenarios introduce degradations in communications, sensor range, and other difficulties. We have created a simulator in which control policies for both scenarios can be evaluated. In addition we researched control policies for the baseline problem and compared their performance in the simulator. Future work will use the simulator to compare performance of control policies for the modified scenario.

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Report Number
DRDC-OTTAWA-CR-2010-207 — Contractor Report
Date of publication
01 Dec 2010
Number of Pages
42
DSTKIM No
CA034600
CANDIS No
534109
Format(s):
Electronic Document(PDF)

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