Mission Management for Multiple Autonomous Vehicles

Abstract

ion of Strategic Knowledge Abstract strategic knowledge can be generated from sequences of operators (including other abstractions) which map some input (initial state) to an output (goal state) that characterise the abstraction. In other words, the input/output relationships represented in the abstraction are typically the most significant relationships that differentiate one higher level of abstraction from another lower level. The process of automatic abstraction is performed by identifying the most significant subfunc-strategic knowledge can be generated from sequences of operators (including other abstractions) which map some input (initial state) to an output (goal state) that characterise the abstraction. In other words, the input/output relationships represented in the abstraction are typically the most significant relationships that differentiate one higher level of abstraction from another lower level. The process of automatic abstraction is performed by identifying the most significant subfunction components in the ANOVA representation. Those subfunctions that contribute little to the causal relationship are considered to be less significant and exist lower in the abstraction hierarchy. Object Based Approach to MIAV System Development The architecture of the MIAV system takes advantage of recent developments in component oriented systems which have been a bi-product of the Object Technology movement. The architecture supports the distribution of vehicles and vehicle components across separate platforms, supporting a ’plug and play’ metaphor for the iterative development and maintenance of the system. For demonstration purposes the vehicles interact in a simulated game where two teams are in opposition, the vehicles cooperate both constructively and destructively in order to exercise various cooperative strategies. The inherent extensibility of an object based model is a principle factor in the achievement of quality in implemented systems, though it should be noted that simply using an object oriented programming language will not assure quality. Rather, this is dependent on the use of development frameworks and infrastructures that support the construction of systems from components. To accommodate the desired infrastructure the Tooltalk interface tool was utilised since it imposes a communication standard that supports the construction of interoperable system components. The Tooltalk standard precedes the increasingly more popular CORBA compliant ORBs (Object Request Brokers) which are promising to impose wide software communication standards encouraging the creation of componentised modular systems.

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Cite this paper

@inproceedings{Rayner1996MissionMF, title={Mission Management for Multiple Autonomous Vehicles}, author={Nicolas Rayner and Christopher J. Harris}, year={1996} }