Hierarchical Plan Execution for Cooperative UxV Missions

Gier, Jan de; Bergmans, J.; Hildmann, Hanno

doi:10.3390/robotics12010024

Cited by 3 publications

References 41 publications

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Towards Semantic Interoperability: An Information Model for Autonomous Mobile Robots

Zager,

Sieber,

Fay

2024

J Intell Robot Syst

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The collaboration among autonomous mobile robots (AMRs), including unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and/or unmanned surface vehicles (USVs), significantly enhances their capabilities by enabling them to tackle more complex tasks exceeding those of individual robots. However, to fully exploit this collaboration, a common understanding of exchanged information—referred to as semantic interoperability—is crucial. Achieving semantic interoperability between these robots requires a deep understanding of relevant information and its underlying structure. To address this challenge, this paper presents a platform- and technology-independent information model developed specifically for AMRs. This model aims to facilitate collaboration by structuring information in a way that ensures semantic interoperability. The paper outlines the model's development process, beginning with a structured consolidation of information from pertinent scientific literature, resulting in a foundational framework for representing knowledge and semantics within the domain of AMRs. The practical application of the information model is demonstrated through a use case involving multiple AMRs. Additionally, the paper provides insights into the employed methodology, emphasizing the significance of systematic literature reviews and collaboration with practitioners to refine and validate the model. It also discusses theoretical and practical implications, addressing potential limitations encountered during the research.

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Towards Semantic Interoperability: An Information Model for Autonomous Mobile Robots

Zager,

Sieber,

Fay

2024

J Intell Robot Syst

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An Improved IMMENS Framework to Handle Conflicting Temporal Plans in mAritime Environments

Van Keeken,

Van Den Heuvel,

Hildmann

et al. 2024

OCEANS 2024 - Singapore

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Numerical Simulation and Computational Fluid Dynamics Analysis of Two-Dimensional Lid-Driven Cavity Flow Within the Weapon Bay of an Autonomous Fighter Drone

Qamar,

Cheok

2023

Qeios

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The efficient deployment of weapons in military operations is critical for mission success, and the flow of air within the weapon bay of an autonomous fighter drone plays a vital role in achieving this objective. In this paper, we present a comprehensive numerical simulation and computational fluid dynamics (CFD) analysis of the three-dimensional lid-driven cavity flow within the weapon bay of an autonomous fighter drone. To address this challenging problem, we employ CFD analysis and a multigrid approach to solve the Navier-Stokes equations for the aerodynamic problem. Our simulations include high Reynolds numbers of up to 10,000, which demonstrates the potential of CFD analysis in optimizing the design of autonomous fighter drones for military operations. We evaluate the effectiveness of the linked strongly implicit multigrid technique in estimating high-Re fine-mesh flow solutions using the vorticity-stream function formulation of the two-dimensional incompressible Navier-Stokes equations. The model issue is the driven flow in a square cavity, and we consider meshes up to 1024 x 1024 points and combinations with Reynolds numbers as high as 1000. To further improve the accuracy of our simulations, we employ one-dimensional grid clustering coordinate transformations instead of uniform mesh refinement, as the flow field exhibits one or more secondary vortices. Our findings demonstrate that CFD analysis can provide valuable insights into the complex flow dynamics within the weapon bay of autonomous fighter drones, which can lead to the optimization of their design for enhanced mission capabilities. Overall, our study highlights the significance of numerical simulations and CFD analysis in the design and optimization of autonomous fighter drones for military applications. Our results can serve as a basis for future research in the field of UAV aerodynamics and contribute to the development of more efficient and effective military operations.

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Hierarchical Plan Execution for Cooperative UxV Missions

Cited by 3 publications

References 41 publications

Towards Semantic Interoperability: An Information Model for Autonomous Mobile Robots

Towards Semantic Interoperability: An Information Model for Autonomous Mobile Robots

An Improved IMMENS Framework to Handle Conflicting Temporal Plans in mAritime Environments

Numerical Simulation and Computational Fluid Dynamics Analysis of Two-Dimensional Lid-Driven Cavity Flow Within the Weapon Bay of an Autonomous Fighter Drone

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