This paper presents a new distributed decentralized architecture for the organization, command, control and communication (C/sup 3/) of multiple agent system which has to execute a mission, cooperatively and autonomously. This architecture can be applied to multiple unmanned underwater vehicles (UUVs), to unmanned air vehicles (UAVs), as well as to unmanned ground vehicles (UGVs), unmanned space vehicles (USVs) or to any other types of autonomous cooperative multiple agent systems. The rationale for autonomous cooperative operation of a multiple agent system, stems from the need to execute critical missions under time, space resources and availability constraints, which are beyond the capability of a single agent to perform successfully. If the system agents are distributed geographically, cooperative operation is a reasonable approach. It supports share of information, share of resources, efficient resource allocation, context and situation driven responsiveness, robustness and flexibility under changing conditions, as well as redundancy. A key feature of the proposed architecture is that all the agents are identical in their sensing, information processing, decision making, communication and mission related capabilities. Thus, a failed agent can be functionally replaced by a peer agent. The architecture is both distributed and decentralized. It is implemented via four major building blocks, which are embedded within each agent.
{"title":"Distributed decentralized architecture for autonomous cooperative operation of multiple agent system","authors":"A. Yavnai","doi":"10.1109/AUV.1994.518607","DOIUrl":"https://doi.org/10.1109/AUV.1994.518607","url":null,"abstract":"This paper presents a new distributed decentralized architecture for the organization, command, control and communication (C/sup 3/) of multiple agent system which has to execute a mission, cooperatively and autonomously. This architecture can be applied to multiple unmanned underwater vehicles (UUVs), to unmanned air vehicles (UAVs), as well as to unmanned ground vehicles (UGVs), unmanned space vehicles (USVs) or to any other types of autonomous cooperative multiple agent systems. The rationale for autonomous cooperative operation of a multiple agent system, stems from the need to execute critical missions under time, space resources and availability constraints, which are beyond the capability of a single agent to perform successfully. If the system agents are distributed geographically, cooperative operation is a reasonable approach. It supports share of information, share of resources, efficient resource allocation, context and situation driven responsiveness, robustness and flexibility under changing conditions, as well as redundancy. A key feature of the proposed architecture is that all the agents are identical in their sensing, information processing, decision making, communication and mission related capabilities. Thus, a failed agent can be functionally replaced by a peer agent. The architecture is both distributed and decentralized. It is implemented via four major building blocks, which are embedded within each agent.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"367 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133473639","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This research proposes a method for the creation of real-time video mosaics of the ocean floor. New vision processing hardware is the enabling technology which makes real-time video mosaicking conceivable. A complete system has been developed to create mosaics from a single camera source. The mosaicking system was tested using a remotely operated vehicle. The test was targeted to determine the capabilities of the system in an actual scientific marine setting. The chief concerns were whether marine snow and nonuniform lighting of the field of view would hinder mosaic creation. Several mosaics of portions of a brachiopod field were successfully created.
{"title":"Real-time video mosaicking of the ocean floor","authors":"S. D. Fleischer, R. Marks, S. M. Rock, M. J. Lee","doi":"10.1109/AUV.1994.518602","DOIUrl":"https://doi.org/10.1109/AUV.1994.518602","url":null,"abstract":"This research proposes a method for the creation of real-time video mosaics of the ocean floor. New vision processing hardware is the enabling technology which makes real-time video mosaicking conceivable. A complete system has been developed to create mosaics from a single camera source. The mosaicking system was tested using a remotely operated vehicle. The test was targeted to determine the capabilities of the system in an actual scientific marine setting. The chief concerns were whether marine snow and nonuniform lighting of the field of view would hinder mosaic creation. Several mosaics of portions of a brachiopod field were successfully created.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114601095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Hybrid adaptive control of autonomous underwater vehicle (AUV) is investigated. Dynamics of AUV vary by change in operating conditions and even theoretically or experimentally driven dynamical coefficients reflect an approximate to the exact ones. Adaptive control technique is employed to handle the uncertainty problems in the system dynamics. In the applied hybrid adaptive control, the system is simulated in a continuous domain while the control and identification sections are discrete. The discrete model and position of zeros of sampled data unstable system are addressed. Convergence rate of parameter estimation is crucial in the stability of closed loop system particularly when open loop unstable system passes its initial states or is entangled by radical changes in the dynamics. Adaptive normalization is suggested which improves the rate of convergence and conserves stability. The results of modified direct, indirect and linear quadratic Gaussian (LQG) adaptive control are presented.
{"title":"Hybrid adaptive control of autonomous underwater vehicle","authors":"S.S. Tabaii, F. el-Hawary, M. El-Hawary","doi":"10.1109/AUV.1994.518636","DOIUrl":"https://doi.org/10.1109/AUV.1994.518636","url":null,"abstract":"Hybrid adaptive control of autonomous underwater vehicle (AUV) is investigated. Dynamics of AUV vary by change in operating conditions and even theoretically or experimentally driven dynamical coefficients reflect an approximate to the exact ones. Adaptive control technique is employed to handle the uncertainty problems in the system dynamics. In the applied hybrid adaptive control, the system is simulated in a continuous domain while the control and identification sections are discrete. The discrete model and position of zeros of sampled data unstable system are addressed. Convergence rate of parameter estimation is crucial in the stability of closed loop system particularly when open loop unstable system passes its initial states or is entangled by radical changes in the dynamics. Adaptive normalization is suggested which improves the rate of convergence and conserves stability. The results of modified direct, indirect and linear quadratic Gaussian (LQG) adaptive control are presented.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114497656","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
H. F. Moraes, R. Sales, H. Cumming, Wanderlei Marinho da Silva
In this paper simulation result of four control strategies of heading angle (yaw) and depth for a submersible are presented. The submersible mathematical model has six degrees of freedom: three translational and three rotational. Control of the submersible is accomplished by deflection of rudder, stern plane and bowplane. This model is linearized around various operation points and for each one of them a controller is designed. Such controller consists of a linear quadratic regulator and a Kalman filter. The purpose of the paper is the study of some commutation strategies between different controllers when a change occur from one operation point to another.
{"title":"A comparative study of some control systems for a submersible","authors":"H. F. Moraes, R. Sales, H. Cumming, Wanderlei Marinho da Silva","doi":"10.1109/AUV.1994.518631","DOIUrl":"https://doi.org/10.1109/AUV.1994.518631","url":null,"abstract":"In this paper simulation result of four control strategies of heading angle (yaw) and depth for a submersible are presented. The submersible mathematical model has six degrees of freedom: three translational and three rotational. Control of the submersible is accomplished by deflection of rudder, stern plane and bowplane. This model is linearized around various operation points and for each one of them a controller is designed. Such controller consists of a linear quadratic regulator and a Kalman filter. The purpose of the paper is the study of some commutation strategies between different controllers when a change occur from one operation point to another.","PeriodicalId":231222,"journal":{"name":"Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122671234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：