NDLI: A general control architecture for multiple vehicles

Content Provider	IEEE Xplore Digital Library
Author	Borges Sousa, J. Lobo Pereira, F.
Copyright Year	1996
Description	Author affiliation: Inst. de Sistemas e Robotica, Porto, Portugal (Borges Sousa, J.; Lobo Pereira, F.)
Abstract	This paper presents a general architecture for the control of multiple vehicles based on the concept of generalized vehicle. This embodies an extension of the dynamically reconfigurable control architecture previously proposed by the authors (1994, 1995). Besides the capabilities of each vehicle inherent to the individual autonomy, the set of vehicles may be seen providing a pool of functionalists whose reconfiguration enables the emergence of a global features overcoming the single vehicle limitations. Unlike some other approaches, cooperation does not take place only at a deliberative level, but it results from a global coordination level implemented via an adequate protocol specified in the the global mission plan. The design of this architecture was driven by requirements extracted from the analysis of operational scenarios involving multiple vehicles.
Starting Page	692
Ending Page	697
File Size	664453
Page Count	6
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.503855
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Protocols Actuators Intelligent control Computer architecture Shape Mobile robots Oceans Vehicle driving Distributed computing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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