A Distributed Framework for Embedded Collaborative Autonomy

被引：0
|
作者：
Furfaro, Thomas C. [1 ]
机构：
[1] NATO STO Ctr Maritime Res & Expt CMRE, La Spezia, SP, Italy
来源：
OCEANS 2018 MTS/IEEE CHARLESTON | 2018年
关键词：
multi-robot systems; multitasking; planning; unmanned autonomous vehicles; unmanned underwater vehicles; mine countermeasures;
D O I：
暂无
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
We have designed and implemented a framework for the development and deployment of multi-agent task allocation solutions, with particular awareness of the operational constraints encountered by Unmanned Maritime Systems (UMS). This framework, which we call the Distributed/Decoupled Collaborative Autonomy Framework (D(2)CAF), is a set of software modules that allow researchers to develop the underlying task allocation algorithms largely independent of engineering concerns (communications, vehicle interface, etc.). The framework is distributed as it provides tools to perform over-the-network (including underwater) communications between instances of the framework hosted on physically disconnected agents. The framework is decoupled in that it realizes an abstract separation between the invocation of a task and its execution. D(2)CAF has been used in several at-sea campaigns, deployed on real autonomous underwater vehicles (AUVs) promoting the execution of MCM missions.
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页数：6
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