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Conference on Signal Processing, Sensor Fusion, and Target Recognition XIV

作者： Smith, JF Nguyen, TH USN Res Lab Washington DC 20375 USA

ISBN: (纸本)0819457949

distributed autonomous systems, i.e., systems that have separated distributed components, each of which, exhibit some degree of autonomy are increasingly providing solutions to naval and other DoD problems. Recently developed control, planning and resource allocation algorithms for two types of distributed autonomous systems will be discussed. The first distributed autonomous system (DAS) to be discussed consists of a collection of unmanned aerial vehicles (UAVs) that are under fuzzy logic control. The UAVs fly and conduct meteorological sampling in a coordinated fashion determined by their fuzzy logic controllers to determine the atmospheric index of refraction. Once in flight no human intervention is required. A fuzzy planning algorithm determines the optimal trajectory, sampling rate and pattern for the UAVs and an interferometer platform while taking into account risk, reliability, priority for sampling in certain regions, fuel limitations, mission cost, and related uncertainties. The real-time fuzzy control algorithm running on each UAV will give the UAV limited autonomy allowing it to change course immediately without consulting with any commander, request other UAVs to help it, alter its sampling pattern and rate when observing interesting phenomena, or to terminate the mission and return to base. The algorithms developed will be compared to a resource manager (RM) developed for another DAS problem related to electronic attack (EA). Ibis RM is based on fuzzy logic and optimized by evolutionary algorithms. It allows a group of dissimilar platforms to use EA resources distributed throughout the group. For both DAS types significant theoretical and simulation results will be presented.

关键词： fuzzy logic resource management evolutionary computing robotic control distributed autonomous systems

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Can Model Checking Assure, distributed autonomous systems Agree? An Urban Air Mobility Case Study

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INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS 2020年第12期11卷 61-72页

作者： Gupta, Anubhav Bhattacharyya, Siddhartha Vadivel, S. Florida Inst Technol Dept Comp Sci & Engn Melbourne FL 32904 USA BITS Pilani Dept Comp Sci Dubai Campus Dubai U Arab Emirates

Advancement in artificial intelligence, internet of things and information technology have enabled the delegation of execution of autonomous services to autonomous systems for civil applications. It is envisioned, that with an increase in the demand for autonomous systems, the decision making associated in the execution of the autonomous services will be distributed, with some of the responsibility in decision making, shifted to the autonomous systems. Thus, it is of utmost importance that we assure the correctness of distributed protocols, that multiple autonomous systems will follow, as they interact with each other in providing the service. Towards this end, we discuss our proposed framework to model, analyze and assure the correctness of distributed protocols executed by autonomous systems to provide a service. We demonstrate our approach by formally modeling the behavior of autonomous systems that will be involved in providing services in the Urban Air Mobility framework that enables air taxis to transport passengers.

关键词： Formal methods autonomous systems distributed algorithms assurance for distributed protocols distributed protocol modeling and verification distributed autonomous systems

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Model-based object tracking for distributed autonomous systems

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TM-TECHNISCHES MESSEN 2016年第2期83卷 85-95页

作者： Pallauf, Johannes Leon, Fernando Puente KIT IIIT Hertzstr 16 D-76187 Karlsruhe Germany

This study describes the concept of object tracking in distributed autonomous systems. In particular modelling approaches for multi-object problems are addressed and applied to indoor people tracking. Additional to basics on localization of sensors, a model based on finite sets is discussed together with a proposed integration within the system which respects a detailed sensor model and the orientation of objects in the tracking process. The advantages of an object-sensitive tracking and classification approach are evaluated on real data.

关键词： Environment perception multi-object tracking PHD filter distributed autonomous systems sensor models

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XANDAR: X-by-Construction Design framework for Engineering autonomous & distributed Real-time Embedded Software systems 31

XANDAR: X-by-Construction Design framework for Engineering A...

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31st International Conference on Field-Programmable Logic and Applications (FPL)

作者： Becker, Juergen Masing, Leonard Doerr, Tobias Schade, Florian Keramidas, Georgios Antonopoulos, Christos P. Mavropoulos, Michail Tiganourias, Efstratios Kelefouras, Vasilios Antonopoulos, Konstantinos Voros, Nikolaos Durak, Umut Ahlbrecht, Alexander Zaeske, Wanja Panagiotou, Christos Karadimas, Dimitris Adler, Nico Sailer, Andreas Weber, Raphael Wilhelm, Thomas Oszwald, Florian Reinhardt, Dominik Chamas, Mohamad Bekan, Adnan Smethurst, Graham Siddiqui, Fahad Khan, Rafiullah Garousi, Vahid Sezer, Sakir Morales, Victor Karlsruhe Inst Technol Karlsruhe Germany Univ Peloponnese Peloponnese Greece German Aerosp Ctr DLR Inst Flight Syst Cologne Germany AVN Innovat Technol Solut Ltd Limassol Cyprus Vector Informat GmbH Stuttgart Germany Bayer Motoren Werke Aktiengesell Munich Germany Queens Univ Belfast Antrim North Ireland Fent Innovat Software Solut SL Valencia Spain Aristotle Univ Thessaloniki Thessaloniki Greece

ISBN: (纸本)9781665437592

The next generation of networked embedded systems (ES) necessitates rapid prototyping and high performance while maintaining key qualities like trustworthiness and safety. However, development of safety critical ES suffers from complex software (SW) toolchains and engineering processes. Moreover, the current trend in autonomous systems, which relies on Machine Learning (ML) and AI applications when combined with fail-operational requirements renders the Verification and Validation (V&V) of these new systems a challenging endeavor. Prime examples are Advanced Driver-Assistance systems (ADAS) that are prone to various safety/security vulnerabilities. The XANDAR project aims at developing a mature SW toolchain (from requirements analysis to the actual code integration on target including V&V) fulfilling the needs of industry for rapid prototyping of interoperable and autonomous ES. Starting from a model-based system architecture, XANDAR will leverage automatic model synthesis and software parallelization techniques to achieve specific nonfunctional requirements setting the foundation for a novel (real-time, safety-, and security)-by-Construction paradigm.

关键词： Embedded Software Architectures distributed autonomous systems Safe/Secure and Real-Time systems

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A distributed, real-time and easy-to-extend strategy for missions of autonomous aircraft squadrons

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INFORMATION SCIENCES 2022年 608卷 222-250页

作者： Giacomin, Paulo Andre Sperandio Hemerly, Elder Moreira Univ Estadual Santa Cruz Dept Exact & Technol Sci Ilheus BA Brazil Technol Inst Aeronaut Controls & Syst Dept Sao Jose Dos Campos SP Brazil

This study proposes a distributed, real-time and easy-to-extend strategy for missions of autonomous aircraft squadrons, which considerably improves the autonomy of the squa-dron. The squadron is called autonomous because there is no need for pilots or remote con-trol. The fleet is able to exhibit a collective behavior without any communication among the aerial vehicles, and if one aircraft is lost, the other vehicles are not affected. Furthermore, the generated number of time steps is kept linear as the number of aerial vehicles increases, and each aircraft is capable of avoiding static and dynamic obstacles, even in the presence of noise. The proposed designing pattern reduces the programming effort necessary for including new formations in the scheme. Besides, all subroutines' run-ning times are finished within the proposed real-time scheduling. Conclusions are vali-dated by means of simulations.(c) 2022 The Author(s). Published by Elsevier Inc. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/).

关键词： Algorithms Analytic simulation Automatic control Design patterns distributed autonomous systems Unmanned aerial vehicles

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Toward Developing a distributed autonomous Energy Management System (DAEMS) 12

Toward Developing a Distributed Autonomous Energy Management...

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12th IEEE International Conference on Green Innovation for Africon Renaissance (AFRICON)

作者： Abu-Mahfouz, Adnan M. Olwal, T. O. Kurien, A. M. Munda, J. L. Djouani, Karim CSIR Meraka Inst Adv Sensor Networks Res Grp Pretoria South Africa Tshwane Univ Technol Dept Elect Engn Pretoria South Africa French South African Inst Technol Pretoria South Africa Univ Paris Est Creteil Dept Elect Engn Paris France

ISBN: (纸本)9781479974986

The design of innovative technological instruments and frameworks for smart energy management is a challenge for countries across the world, and the creation of a 'Smart Grid' still has unresolved research and development (R& D) problems. The design of optimal distributed energy resources (DER) is a promising approach for creating more renewable energy. In order to successfully implement DER, one must first consider several technical performance issues that would benefit from applied research. In this paper, a distributed autonomous energy management system (DAEMS) will be introduced. The DAEMS is envisaged to be self-organising, scalable and a reliable component for energy trading, client-side usage optimisation and DER management. Therefore the focus of this paper will be on creating a technical platform for facilitating energy trading, thereby creating an energy market and empowering consumers within the green economy. The creation of such technical platform can be achieved by formulating algorithms for client-side energy efficiency, and finding suitable methods for real-time DER management in terms of energy consumption, generation and connectivity

关键词： DAEMS distributed autonomous systems distributed energy resources energy efficiency energy management system energy trading agent renewable energy smart grid

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An experimental study on a self-repairing modular machine

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ROBOTICS AND autonomous systems 1999年第1期29卷 79-89页

作者： Yoshida, E Murata, S Tomita, K Kurokawa, H Kokaji, S Mech Engn Lab Tsukuba Ibaraki 3058564 Japan

A self-assembling and self-repairing mechanical system is experimentally studied to demonstrate its effectiveness. We developed a 2-D model of an autonomous mechanical unit capable of dynamic reconfiguration and inter-unit communication. Self-assembly and self-repair experiments have been carried out using a distributed algorithm developed under the constraints of the system's homogeneity and locality of information exchange. Tn experiments, more than ten units successfully configured themselves and recovered from a fault. Besides the research of the 2-D model, a model of a 3-D system and its self-assembly algorithm are also developed. (C) 1999 Elsevier Science B.V. All rights reserved.

关键词： distributed autonomous systems homogeneous modular machine self-assembly self-repair

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Single-actuator AUV performing 3-DOF motion

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ADVANCED ROBOTICS 2020年第5期34卷 282-298页

作者： Kunimatsu, Kei Hattori, Yuya Kurabayashi, Daisuke Tokyo Inst Technol Dept Syst & Control Engn Tokyo Japan

In this study, we aim to design, simulate and build an autonomous underwater robot with constrained number of control input. A one degree-of-freedom (DOF) input robot whose control output come in three-DOF underwater position is created and tested through simulation and experiment. The robot has a tube-like shape with a vertical pathway inside for pushing water through using a motorized propeller as its only actuator, making '1-DOF input'. Despite constraining to one actuator, three different patterns of input by the difference of motor actuation are used to get various output underwater. When the motor rotates forward, the water is pushed upward and the robot moves downward. With backward rotation, the robot rotates around the vertical axis to change orientation. Lastly, when the motor stops, the robot floats with strong buoyancy. In addition, some weights are placed on its body for asymmetrical trajectory. Following a formation of design and mechanism, a model is derived. A simulation is carried out to verify the ability of the proposed model. Then, a test robot is built and tested in a real water tank. Both the simulation and experiment results support the proposal, showing that the robot can travel in 3-DOF with the limited inputs.

关键词： autonomous underwater vehicle under-actuation distributed autonomous systems

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Emergent cooperative strategies for robot team sports

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INTELLIGENT AUTOMATION AND SOFT COMPUTING 2000年第1期6卷 45-56页

作者： Agah, A Doyle, B Kuok, K Tanie, K Univ Kansas Dept Elect Engn & Comp Sci Lawrence KS 66045 USA AIST Agcy Ind Sci & Technol Mech Engn Lab Robot Dept Tsukuba Ibaraki 305 Japan

Automatic development of cooperative strategies far teams of distributed autonomous robots, or software agents, is presented in this paper. It is shown that a team of robotic agents that initially plays a random game of simulated soccer, can acquire winning strategies through successive generations, utilizing techniques of evolutionary computation. The concept of Tropism-based Control Architecture is introduced that not only allows for the evolution of cooperative strategies, but also obtains the acquired knowledge in a format that is easily comprehensible by humans. The advantage of this approach is that the cooperative strategies can then be transported onto a variety of platforms for testing and deployment. It is discussed as to why the game of robot soccer provides a good environment for this type of investigation, and how the presented concepts can have applications in multi-robot system design. The proposed cognitive architecture has been inspired by biological systems, and the paper includes a review of the related literature in the field of evolution, both in the framework of animal societies, and multi-robot teams. The results of many generations of simulated evolution are presented, accompanied by the game results and fitness characteristics. A number of soccer game strategies which are developed through the experiments are also described, where the obtained techniques for playing better team sports emerged as the result of evolutionary computation.

关键词： robot soccer evolutionary computation multi-agent systems evolution of cooperation distributed autonomous systems game strategies

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Robotic perimeter detection system

Robotic perimeter detection system

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Conference on Sensors, C31, Information, and Training Technologies for Law Enforcement

作者： Lewis, C Feddema, J Klarer, P Sandia Natl Labs Inst Syst & Robot Ctr Albuquerque NM 87185 USA

ISBN: (纸本)0819430439

Sandia National Labs is developing and testing a robotic perimeter detection system for Small Unit Operations (small groups of warfighters). The objective is to demonstrate the feasibility of using a cooperative team of robotic sentry vehicles to assist the warfighter in guarding military assets. Eight "Roving All Terrain Lunar Explorer Rovers" (RATLERs) have been built at Sandia and are being used as the test platform. A radio frequency receiver on each of the RATLERs alerts the sentry vehicles of alarms from hidden Miniature Intrusion Detection Sensors (MIDS). The MIDS currently deployed include seismic, magnetometer, passive and beam-break infrared sensors. Each RATLER keeps an internal state representation of each of the MIDS and of the other vehicles' locations. This representation is updated several times per second as the vehicles broadcast their current state and any alarms received. When an alarm is received, each vehicle looks at this state information and decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. This cooperative team concept can significantly reduce the workload and increase the effectiveness of a single warfighter in the battlefield. Using robot vehicles makes the perimeter detection system easily mobilized for redeployment.

关键词： mobile robots cooperative control distributed autonomous systems

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