Integration of self-awareness in multi-vehicle autonomous control

K. M. Reichard, E. C. Crow, J. Stover, M. Roeckel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

One enabler for true unmanned, autonomous vehicle operation is mission awareness composed of three components: knowledge of mission objectives, internal self-situational awareness, and external self-situational awareness. Internal self-situational awareness implies knowledge of platform health and capability. External self-situational awareness encompasses knowledge of external resources (supplies, supervisors, or collaborators) as well as threats that can affect system performance. Finally, the system must be able to translate mission objectives into actions and assess the impact of its internal and external state on its ability to execute the mission. If the combination of the internal and external state will not permit the system to achieve its mission objectives, then the autonomous control system for the platform must revise the mission plan. In the case of multi-vehicle autonomous control, an autonomous supervisor may be required to alter the mission plan for one or more platforms. This paper describes the use of a behavior-based, intelligent control architecture to integrate both internal-self situational awareness, external self-situational awareness, and autonomous control. The scalability of the architecture simplifies the addition of a hierarchical supervisor that can communicate with other collaborators to revise mission plans in the event of changes in the internal or external situation.

Original languageEnglish (US)
Title of host publication2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781624100949
DOIs
StatePublished - 2003
Event2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit 2003 - San Diego, CA, United States
Duration: Sep 15 2003Sep 18 2003

Publication series

Name2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit

Other

Other2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit 2003
CountryUnited States
CitySan Diego, CA
Period9/15/039/18/03

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Reichard, K. M., Crow, E. C., Stover, J., & Roeckel, M. (2003). Integration of self-awareness in multi-vehicle autonomous control. In 2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit (2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2003-6623