NDLI: Automated synthesis of action selection policies for unmanned vehicles operating in adverse environments

Content Provider	Springer Nature Link
Author	Svec, Petr Gupta, Satyandra K.
Copyright Year	2011
Abstract	We address the problem of automated action selection policy synthesis for unmanned vehicles operating in adverse environments. We introduce a new evolutionary computation-based approach using which an initial version of the policy is automatically generated and then gradually refined by detecting and fixing its shortcomings. The synthesis technique consists of the automated extraction of the vehicle’s exception states and Genetic Programming (GP) for automated composition and optimization of corrective sequences of commands in the form of macro-actions to be applied locally.The focus is specifically on automated synthesis of a policy for Unmanned Surface Vehicle (USV) to efficiently block the advancement of an intruder boat toward a valuable target. This task requires the USV to utilize reactive planning complemented by short-term forward planning to generate specific maneuvers for blocking. The intruder is human-competitive and exhibits a deceptive behavior so that the USV cannot exploit regularity in its attacking behavior.We compared the performance of a hand-coded blocking policy to the performance of a policy that was automatically synthesized. Our results show that the performance of the automatically generated policy exceeds the performance of the hand-coded policy and thus demonstrates the feasibility of the proposed approach.
Starting Page	149
Ending Page	164
Page Count	16
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	32
Issue Number	2
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2011-12-30
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Artificial evolution Policy synthesis Unmanned vehicles Unmanned surface vehicle (USV) Computer Imaging, Vision, Pattern Recognition and Graphics Artificial Intelligence (incl. Robotics) Control, Robotics, Mechatronics Robotics and Automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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

Target following with motion prediction for unmanned surface vehicle operating in cluttered environments

Behavioral control of unmanned aerial vehicle manipulator systems

Inferring and monitoring invariants in robotic systems

Precision navigation and mapping under bridges with an unmanned surface vehicle

Model-predictive asset guarding by team of autonomous surface vehicles in environment with civilian boats

Resolution-adaptive risk-aware trajectory planning for surface vehicles operating in congested civilian traffic

A robust loop-closure method for visual SLAM in unstructured seafloor environments

Experimental test of a robust formation controller for marine unmanned surface vessels

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Automated synthesis of action selection policies for unmanned vehicles operating in adverse environments

Similar Documents

Target following with motion prediction for unmanned surface vehicle operating in cluttered environments

Behavioral control of unmanned aerial vehicle manipulator systems

Inferring and monitoring invariants in robotic systems

Precision navigation and mapping under bridges with an unmanned surface vehicle

Model-predictive asset guarding by team of autonomous surface vehicles in environment with civilian boats

Resolution-adaptive risk-aware trajectory planning for surface vehicles operating in congested civilian traffic

A robust loop-closure method for visual SLAM in unstructured seafloor environments

Experimental test of a robust formation controller for marine unmanned surface vessels

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Automated synthesis of action selection policies for unmanned vehicles operating in adverse environments