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27 May 2005 Hierarchical control and performance evaluation of multi-vehicle autonomous systems
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This paper will describe how the Mobility Open Architecture Tools and Simulation (MOAST) framework can facilitate performance evaluations of RCS compliant multi-vehicle autonomous systems. This framework provides an environment that allows for simulated and real architectural components to function seamlessly together. By providing repeatable environmental conditions, this framework allows for the development of individual components as well as component performance metrics. MOAST is composed of high-fidelity and low-fidelity simulation systems, a detailed model of real-world terrain, actual hardware components, a central knowledge repository, and architectural glue to tie all of the components together. This paper will describe the framework’s components in detail and provide an example that illustrates how the framework can be utilized to develop and evaluate a single architectural component through the use of repeatable trials and experimentation that includes both virtual and real components functioning together
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Stephen Balakirsky, Chris Scrapper, and Elena Messina "Hierarchical control and performance evaluation of multi-vehicle autonomous systems", Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005);

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