A general control architecture for multiple vehicles

• Type: Article in International Conference Proceedings Book
• Date: 1996

Authors

Sousa, JB (Author) FEUP; Pereira, FL (Author) FEUP

Conference proceedings International

Title: 1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4

Pages: 692-697

1996 IEEE International Conference on Robotics and Automation

MINNEAPOLIS, MN, APR 22-28, 1996

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 3 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-001-FRK

DOI: 10.1109/robot.1996.503855

Abstract (EN): This paper presents a general architecture for the control of multiple vehicles based on the concept of Generalized Vehicle. This embodies an extension of the Dynamically Reconfigurable Control Architecture previously proposed by the authors, [7,20,23]. Besides the capabilities of each vehicle inherent to the individual autonomy, the set of the vehicles may be seen providing a pool of functionalities whose reconfiguration enables the emergence of a global feature overcoming the single vehicle limitations. Unlike some other approaches, cooperation does not take place only at a deliberative level, but it results from a global coordination level implemented via an adequate protocol specified in the global mission plan. The design of this architecture was driven by requirements extracted from the analysis of operational scenarios involving multiple vehicles.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6