Cooperative mission execution and planning

Nicholas S. Flann; Kevin S. Saunders; Larry Pells

doi:10.1117/12.317543

12 August 1998 Cooperative mission execution and planning

Nicholas S. Flann, Kevin S. Saunders, Larry Pells

Proceedings Volume 3366, Robotic and Semi-Robotic Ground Vehicle Technology; (1998) https://doi.org/10.1117/12.317543
Event: Aerospace/Defense Sensing and Controls, 1998, Orlando, FL, United States

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.

Citation Download Citation

Nicholas S. Flann, Kevin S. Saunders, and Larry Pells "Cooperative mission execution and planning", Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); https://doi.org/10.1117/12.317543

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available