A software framework for multi-agent control of multiple autonomous underwater vehicles for underwater mine counter-measures

Li, Howard; Popa, Alexandru; Thibault, Carl; Trentini, Michael; Seto, Mae

doi:10.1109/ais.2010.5547032

Cited by 15 publications

(5 citation statements)

References 11 publications

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“…In this case, bat pulse emission rate is balanced between emitting pulses to reliably avoid collisions and varying pulse emission rate to avoid frequency jamming and conserve energy for echolocation, which is quantified using defined cost functions relevant to both biological and engineered systems. This model may help better understand bats' group behavior and inspire control algorithms for robotic teams that use active sensing [40,41].…”

Section: Introductionmentioning

confidence: 99%

Modeling perspectives on echolocation strategies inspired by bats flying in groups

Lin

Abaid

2015

Journal of Theoretical Biology

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Bats navigating with echolocation - which is a type of active sensing achieved by interpreting echoes resulting from self-generated ultrasonic pulses - exhibit unique behaviors during group flight. While bats may benefit from eavesdropping on their peers׳ echolocation, they also potentially suffer from confusion between their own and peers׳ pulses, caused by an effect called frequency jamming. This hardship of group flight is supported by experimental observations of bats simplifying their sound-scape by shifting their pulse frequencies or suppressing echolocation altogether. Here, we investigate eavesdropping and varying pulse emission rate from a modeling perspective to understand these behaviors׳ potential benefits and detriments. We define an agent-based model of echolocating bats avoiding collisions in a three-dimensional tunnel. Through simulation, we show that bats with reasonably accurate eavesdropping can reduce collisions compared to those neglecting information from peers. In large populations, bats minimize frequency jamming by decreasing pulse emission rate, while collision risk increases; conversely, increasing pulse emission rate minimizes collisions by allowing more sensing information generated per bat. These strategies offer benefits for both biological and engineered systems, since frequency jamming is a concern in systems using active sensing.

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Section: Introductionmentioning

confidence: 99%

Modeling perspectives on echolocation strategies inspired by bats flying in groups

Lin

Abaid

2015

Journal of Theoretical Biology

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“…An alternative approach some researchers have taken is to implement only one agent per mobile platform [8][9][10][11][12][13]. Many-agent solutions can be computationally distributed within a vehicle so simpler agents can be implemented but the interaction among agents is increased which involves additional communication tasks.…”

Section: Literature Reviewmentioning

confidence: 99%

Service-oriented agent architecture for unmanned air vehicles

Insaurralde

2014

2014 IEEE/AIAA 33rd Digital Avionics Systems Conference (DASC)

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Unmanned Air Vehicles (UAVs) are performing more and more sophisticated air missions. Remotelypiloted vehicles are becoming less and less costeffective. Alternatively, autonomous UAVs have the potential to operate with greatly reduced overhead costs and level of pilot intervention. The challenge is to develop a system that deploys a team of UAVs that can perform complex tasks reliably and with minimal (remote) pilot intervention. New UAV platforms require high degree of autonomy and a collaborative operation mode in order to minimize the human intervention. This paper proposes an Intelligent Vehicle Control Architecture (IVCA) to enable multiple collaborating air vehicles to autonomously carry out airspace missions. The IVCA is generic in nature but aimed at a case study where UAVs are required to work cooperatively. The architectural foundation to achieve the IVCA lays on the flexibility of service-oriented computing and agent software technology. An ontological database captures the remote pilot skills, platform capabilities and, changes in the environment. The information captured enables reasoning agents to plan missions based on the current situation. This makes it possible to develop an IVCA that is able to dynamically reconfigure and adapt itself in order to deal with changes in the operation environment. This paper also presents architectural details and evaluation scenarios of the IVCA, and future research directions.

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“…The development of AUVs started in early 1970s (Paull et al , 2013, 2014; Saeedi et al , 2015a). Advancement in the computational efficiency, compact size and memory capacity of computers in the past 20 years has accelerated the development of AUVs (Li et al , 2010; Paull et al , 2010). As decision-making technologies evolve toward providing higher levels of autonomy for AUVs, embedded service-oriented agents require access to higher levels of data representation.…”

Section: Autonomous Robotsmentioning

confidence: 99%

Requirements for building an ontology for autonomous robots

Bayat

Bermejo–Alonso

Carbonera

et al. 2016

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Purpose IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots. Design/methodology/approach For autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making. Findings AuR has identified the core concepts and domains needed to create an ontology for autonomous robots. Practical implications AuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance. Originality/value Creating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors’knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots.

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A software framework for multi-agent control of multiple autonomous underwater vehicles for underwater mine counter-measures

Cited by 15 publications

References 11 publications

Modeling perspectives on echolocation strategies inspired by bats flying in groups

Modeling perspectives on echolocation strategies inspired by bats flying in groups

Service-oriented agent architecture for unmanned air vehicles

Requirements for building an ontology for autonomous robots

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