12 August 1998 Cooperative mission execution and planning
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Abstract
Utilizing multiple cooperating autonomous vehicles to perform tasks enhances robustness and efficiency over the use of a single vehicle. Furthermore, because autonomous vehicles can be controlled precisely and their status known accurately in real time, new types of cooperative behaviors are possible. This paper presents a working system called MEPS that plans and executes missions for multiple autonomous vehicles in large structured environments. Two generic spatial tasks are supported, to sweep an area and to visit a location while activating on-board equipment. Tasks can be entered both initially by the user and dynamically during mission execution by both users and vehicles. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle and tasks conditions. The system has been successfully applied to control ATV and micro-robotic vehicles in precision agriculture and waste-site characterization environments.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Nicholas S. Flann, Nicholas S. Flann, Kevin S. Saunders, Kevin S. Saunders, Larry Pells, Larry Pells, } "Cooperative mission execution and planning", Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); doi: 10.1117/12.317543; https://doi.org/10.1117/12.317543
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