Title :
Partitioned searching and deconfliction: Analysis and flight tests
Author :
Lum, C. ; Vagners, J. ; Jung Soon Jang ; Vian, J.
Author_Institution :
Dept. of Aeronaut. & Astronaut., Univ. of Washington, Seattle, WA, USA
fDate :
June 30 2010-July 2 2010
Abstract :
Searching a complex environment for a hidden target is a common problem encountered by many autonomous systems. Many modern autonomous systems use a hierarchical structure for mission management where different algorithms perform different tasks to give agents desired behavior. This work investigates a search policy that guarantees both an exhaustive search of the map and conflict free paths of all agents. Agents formulate control decisions for a fixed number of time steps using a modular algorithm that allows parameterizations of agent capabilities. High fidelity simulation and flight test data using multiple autonomous vehicles are used to verify and validate the algorithms in real time.
Keywords :
aerospace control; mobile robots; path planning; autonomous systems; flight test data; high fidelity simulation; mission management; modular algorithm; multiple autonomous vehicles; partitioned deconfliction; partitioned searching; search policy; Aerospace simulation; Bayesian methods; Control systems; Mobile robots; Object detection; Partitioning algorithms; Probability density function; Remotely operated vehicles; Search problems; System testing;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531472