NDLI: Planning for Autonomous Planetary Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Della Penna, G. Intrigila, B. Magazzeni, D. Mercorio, F.
Copyright Year	2010
Abstract	Autonomous vehicles are often complex systems that work in a partially unknown environment, with narrow energy/time/movement constraints. Formal models for such vehicles usually involve hybrid systems with nonlinear dynamics, which are difficult to handle by most of the current planning algorithms and tools. Therefore, when offline planning of the vehicle activities is required, for example for rovers that operate without a continuous Earth supervision, such planning is often performed on simplified models that are not completely realistic. In this paper we show how a model checking based tool, namely UPMurphi, can be used to generate optimal plans to control the engine of an autonomous planetary vehicle, working directly on its hybrid model, and thus achieving very accurate results.
Starting Page	131
Ending Page	136
File Size	1792878
Page Count	6
File Format	PDF
ISBN	9781424459155
e-ISBN	9781424459162
DOI	10.1109/ICAS.2010.26
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-03-07
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Nonlinear equations Batteries Mobile robots Vehicle dynamics Engines Remotely operated vehicles Earth planning hybrid systems Road vehicles autonomous vehicle Land vehicles Time factors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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