Control Architecture for Multiple Autonomous Unmanned Vehicle Operations – Simulation Results

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Authors
  1. Maurelli, F.
  2. Saigol, Z.
  3. Cartwright, J.
  4. Lane, D.M.
Corporate Authors
Defence R&D Canada - Centre for Operational Research and Analysis, Ottawa ON (CAN);Heriot-Watt Univ Riccarton Edinburgh (SCOTLAND) Dept of Electrical, Electronic and Computer Engineering
Abstract
The aim of this paper is to present a distributed world model system for multi-robot cooperation. Information is stored in semantic form in an ontology, allowing unlimited new concepts to be added. Automatic exchange of information is driven by the prioritised information needs of each vehicle, and is robust in the face of high latency, low bandwidth, and lossy acoustic communications. The performances of different TDMA-based exchange policies were compared to a standard acknowledgement policy, through tests in simulation. Under certain conditions, particularly high packet loss, the matrix-based acknowledgement policies introduced here substantially reduced time to reliable exchange; the results suggest an adaptive exchange policy may perform best under varying conditions.

Il y a un résumé en français ici.

Keywords
auv;mission planning;world modelling;ontology;acoustic communication
Report Number
DRDC-CORA-CR-2013-066 — Contractor Report
Date of publication
01 Apr 2013
Number of Pages
29
DSTKIM No
CA037714
CANDIS No
537540
Format(s):
Electronic Document(PDF)

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