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This paper describes a model of computation for structure-aware computing called the BigActor model. The model is a hybrid. It combines the Actor model [1] and the Bigraph model [10]. The contributions of this paper are an operational semantics, an example illustrating how the model supports the concise programming of a mobile agent working in a ubiquitous(More)
  • Nuno Cruz, Anı́bal Matos, +5 authors Emı́lio Brogueira Dias
  • 2003
— The goals, technical challenges, and activities of the project PISCIS – Multiple Autonomous Underwater Vehicles for Coastal and Environmental Field Studies – are reviewed in the context of the activities of the I. INTRODUCTION The future of humanity is deeply related to the quality of the bodies of water of the planet, and to the maintenance of their(More)
— The problem of 2-dimensional vehicle path following under adversarial behavior is considered. The objective is to keep the cross-track error to the reference path inside a given tolerance interval. The adversarial behavior models system uncertainty and unknown or poorly estimated bounded disturbances. The first step to that objective is the computation of(More)
SUMMARY A layered control architecture for executing multi-vehicle team coordination algorithms is presented along with the specifications for team behaviour. The control architecture consists of three layers: team control, vehicle supervision and maneuver control. It is shown that the controller implementation is consistent with the system specification on(More)
The C3I (command, control, communication and information) Neptus framework which is being developed at the Underwater Systems and Technology Laboratory (USTL/LSTS) is presented. Neptus is a modular mixed initiative framework (human operators in the control loop) for the operation of heterogeneous teams of vehicles such as autonomous and remotely operated(More)
We discuss the problem of dynamic reallocation of vehicles among teams of Unmanned Air Vehicles (UAV) executing concurrently. Each team addresses a task that consists of a sequence of subtasks to be executed in an adversary environment, where the vehicles face the risk of becoming inoperative. Our approach consists on separating the problem into a planning(More)
(Leave the number of pages blank) In the last decade we have witnessed an unprecedented development of Unmanned Air Vehicles (UAVs) for missions with high societal impact. Future generations of UAV systems will reflect the major current trends: increased levels of autonomy, lower cost, longer endurance, and networking capabilities. Networking is one of the(More)
A control architecture for executing multi-vehicle search algorithms is presented. The proposed hierarchical structure consists of three control layers: maneuver controllers, vehicle supervisors and team controllers. The system model is described as a dynamic network of hybrid automata in the programming language Shift and allows reasoning about(More)
New concepts for operational missions to be performed, conceivably in a near future, by networked vehicles and systems are presented. It is shown that, at the heart of those concepts are simple coordination and control patterns that can be expressed in terms of sets and of the relations among the elements of those sets. A specification and design framework(More)