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Proceedings Paper

Supervised tactical mobility behavior modeling and control of multi-agent robotic vehicles
Author(s): Amir Shirkhodaie
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Paper Abstract

In this paper, we have discussed technical issues regarding supervised tactical mobility modeling and control of multi- agent robotic vehicles operating in unstructured environment. An integrated Supervisory Mobility Controller (SMC) has been developed that accommodates cooperative deployment of robotic vehicles in different modes of operation. Tactical behaviors of the mobile robots are initially modeled, tested, and validated in simulation environment under FMCell robotic software and then implemented into the SMC. The controller is used for development tactical mobility schemes for a group of six small-scale intelligent autonomous robot equipped with a variety of basic navigational sensors. In this paper, we describe functional and modular architecture of the Supervisory Mobility Controller and present some of our strategies for separation of supervisory functions according to their complexity, precedence, and intelligence. Furthermore, we have discussed intelligent schemes for supervised maneuverability control of our cooperative robotic vehicles. Some examples demonstrating practical applications of the newly developed techniques for military UGV's applications have been presented.

Paper Details

Date Published: 20 September 2001
PDF: 10 pages
Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); doi: 10.1117/12.439971
Show Author Affiliations
Amir Shirkhodaie, Tennessee State Univ. (United States)


Published in SPIE Proceedings Vol. 4364:
Unmanned Ground Vehicle Technology III
Grant R. Gerhart; Chuck M. Shoemaker, Editor(s)

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