Plamen V. Petrov

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This paper describes the modeling of a two-vehicle convoy and the design of a vehicle following controller that tracks the trajectory of the vehicle ahead with prescribed inter-vehicle distance. Kinematic equations of the system are formulated applying standard robotic methodology. We consider autonomous vehicle following without any information obtained(More)
Over the past few years, swarm based systems have emerged as an attractive paradigm for building large scale distributed systems composed of numerous independent but coordinating units. In our previous work, we have developed a protoype system called COMSTAR (Cooperative Multi-agent Systems for automatic TArget Recognition) using a swarm of unmanned aerial(More)
This research addresses a problem of how to make effective use of real-time information acquired from multiple sensor and heterogeneous data resources, and reasoning on the gathered information for situation assessment and impact assessment (SA/IA), thus to provide reliable decision support for time-critical operations. A hierarchical collective agents(More)
We present a novel mobile code management environment,currently under design and development. Our design employs anopen architecture, suitable for ``plug-and-play'' with COTS andother groups' tools. While we have studied new algorithms, costand objective functions, and other fundamental issues, the maincontribution of this experimental research work is in(More)
Engineering of complex distributed real-time applications is one of the hardest tasks faced by the software profession today. All aspects of the process, from design to implementation, are made more di cult by the interaction of behavioral and platform constraints. Providing tools for this task is likewise not without major challenges. In this paper, we(More)
This paper presents an adaptive tracking controller for a two-vehicle convoy where the lead vehicle is driven in reverse. We assume that the lead vehicle linear and angular velocities are unknown constant parameters. We discuss autonomous vehicle control without any information obtained from road infrastructure or communicated from the lead vehicle. The(More)
In the highly dynamic and information rich environment of military submarine operations, the Commanding Officer must make split second decisions that could ultimately result in the destruction or survival of ownship or the accomplishment of its designated mission. Despite extensive training and expertise, the fog of war often shadows real world encounters.(More)