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Proceedings Paper

Cooperative mission execution and planning
Author(s): Nicholas S. Flann; Kevin S. Saunders; Larry Pells
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Paper 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.

Paper Details

Date Published: 12 August 1998
PDF: 8 pages
Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); doi: 10.1117/12.317543
Show Author Affiliations
Nicholas S. Flann, Utah State Univ. (United States)
Kevin S. Saunders, Utah State Univ. (United States)
Larry Pells, Utah State Univ. (United States)

Published in SPIE Proceedings Vol. 3366:
Robotic and Semi-Robotic Ground Vehicle Technology
Grant R. Gerhart; Ben A. Abbott, Editor(s)

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