Mixed-Initiative Control of Autonomous Unmanned Units Under Uncertainty PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Mixed-Initiative Control of Autonomous Unmanned Units Under Uncertainty PDF full book. Access full book title Mixed-Initiative Control of Autonomous Unmanned Units Under Uncertainty by . Download full books in PDF and EPUB format.
Author: Publisher: ISBN: Category : Languages : en Pages : 39
Book Description
The MICA program focused on changing the control and coordination of unmanned aerial vehicles from a need for two to four persons per vehicle to one person controlling five or more vehicles. This program developed techniques for hierarchical control using mixed-initiative planning guidance and control taking a number of kinds of uncertainty into account at a fundamental level. These techniques focused on reasoning about uncertainty, including planning, belief tracking and communications with both human and automation. We developed this control model using Partially Observable Markov Decision Processes. The mixed-initiative interactions enabled users to describe constraints at multiple levels of the planning hierarchy. Techniques include visualization of the environment and optional speech input. The capabilities were demonstrated in a laboratory environment and on the program's Open Experimental Platform.
Author: Publisher: ISBN: Category : Languages : en Pages : 39
Book Description
The MICA program focused on changing the control and coordination of unmanned aerial vehicles from a need for two to four persons per vehicle to one person controlling five or more vehicles. This program developed techniques for hierarchical control using mixed-initiative planning guidance and control taking a number of kinds of uncertainty into account at a fundamental level. These techniques focused on reasoning about uncertainty, including planning, belief tracking and communications with both human and automation. We developed this control model using Partially Observable Markov Decision Processes. The mixed-initiative interactions enabled users to describe constraints at multiple levels of the planning hierarchy. Techniques include visualization of the environment and optional speech input. The capabilities were demonstrated in a laboratory environment and on the program's Open Experimental Platform.
Author: Publisher: ISBN: Category : Languages : en Pages : 153
Book Description
The unexpected increase in the complexity of command and control of future air operations that includes multiple classes of unmanned air vehicles with both sensing and strike capabilities and with multiple precision-guided weapons has given rise to DARPA's Mixed-Initiative Control of Automa-teams (MICA) Program. Planning and execution of multitarget missions for these platforms will be more complex. That complexity inheres not just in the large number of targets that must be prosecuted simultaneously by many teams of autonomous vehicles, but also in the likelihood that a continuously evolving target set may require multiple, dynamic replans of the teams' missions during the course of their execution. This report describes a prototype, closed-loop, dynamic planning and execution system and associated experimental results that address this challenge, the Mixed-Initiative Human System Interface (HSI) that supports operator participation in plan generation, plan execution, and situation awareness for teams of multiple, heterogeneous unmanned aircraft and some representative experimental results of applying that prototype in the context of the MICA program's Open Experiment Platform (OEP) simulation environment.
Author: Publisher: ISBN: Category : Languages : en Pages : 15
Book Description
The problem of mixed initiative control of unmanned air and ocean going vehicles is discussed, a formal mixed initiative control framework for networked vehicles is introduced and tools for operational deployments are presented, together with lessons learned from deployments at sea with autonomous underwater and surface vehicles. This is done in the context of the developments from the Underwater Systems and Technologies Laboratory from Porto University in Portugal.
Author: Kenzo Nonami Publisher: Springer Science & Business Media ISBN: 4431542760 Category : Technology & Engineering Languages : en Pages : 306
Book Description
The International Conference on Intelligent Unmanned Systems 2011 was organized by the International Society of Intelligent Unmanned Systems and locally by the Center for Bio-Micro Robotics Research at Chiba University, Japan. The event was the 7th conference continuing from previous conferences held in Seoul, Korea (2005, 2006), Bali, Indonesia (2007), Nanjing, China (2008), Jeju, Korea (2009), and Bali, Indonesia (2010). ICIUS 2011 focused on both theory and application, primarily covering the topics of robotics, autonomous vehicles, intelligent unmanned technologies, and biomimetics. We invited seven keynote speakers who dealt with related state-of-the-art technologies including unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs), flapping wings (FWs), unmanned ground vehicles (UGVs), underwater vehicles (UVs), bio-inspired robotics, advanced control, and intelligent systems, among others. This book is a collection of excellent papers that were updated after presentation at ICIUS2011. All papers that form the chapters of this book were reviewed and revised from the perspective of advanced relevant technologies in the field. The aim of this book is to stimulate interactions among researchers active in the areas pertinent to intelligent unmanned systems.
Author: John Alexander Duncan Publisher: ISBN: Category : Languages : en Pages : 310
Book Description
Robots and autonomous systems are expanding into more complex, dynamic, and human-centered operating domains. In such domains, neither full autonomy nor full human control are ideal and the appropriate level of autonomy is contextually-dependent. Mixed-initiative systems enable flexible autonomy, making them ideal for complex operating environments. However, most mixed-initiative research does not consider multi-agent human-robot systems, and a multi-agent mixed-initiative robot control framework is not readily available. This project explores the requirements for a mixed-initiative human-robot control framework and proposes an initial design. The mixed-initiative framework was deployed onto a mobile robot, where three different agents could take, transfer, share, enable, or disable robot control. Compared to single-agent systems, the multi-agent mixed-initiative system completed a series of navigation tasks more quickly. The multi-agent system also completed navigation tasks that a single-agent autonomous system could not. Further design improvements and applications for mixed-initiative systems are discussed
Author: Anthony Finn Publisher: Springer Science & Business Media ISBN: 3642107044 Category : Computers Languages : en Pages : 230
Book Description
It is widely anticipated that autonomous vehicles will have a transformational impact on military forces and will play a key role in many future force structures. As a result, many tasks have already been identified that unmanned systems could undertake more readily than humans. However, for this to occur, such systems will need to be agile, versatile, persistent, reliable, survivable and lethal. This will require many of the vehicles ‘cognitive’ or higher order functions to be more fully developed, whereas to date only the ‘component’ or physical functions have been successfully automated and deployed. The book draws upon a broad range of others’ work with a view to providing a product that is greater than the sum of its parts. The discussion is intentionally approached from the perspective of improving understanding rather than providing solutions or drawing firm conclusions. Consequently, researchers reading this book with the hope of uncovering some novel theory or approach to automating an unmanned vehicle will be as disappointed as the capability planner who anticipates a catalogue of technical risks and feasibility options against his favoured list of component technologies and potential applications. Nevertheless, it is hoped that both will at least learn something of the other’s world and that progress will ensue as a result. For the defence policy and decision maker, this is a "must-read" book which brings together an important technology summary with a considered analysis of future doctrinal, legal and ethical issues in unmanned and autonomous systems. For research engineers and developers of robotics, this book provides a unique perspective on the implications and consequences of our craft; connecting what we do to the deployment and use of the technology in current and future defence systems. Professor Hugh Durrant-Whyte
Author: Michail G. Michailidis Publisher: Springer ISBN: 9783030407186 Category : Technology & Engineering Languages : en Pages : 119
Book Description
This book introduces a comprehensive and mathematically rigorous controller design for families of nonlinear systems with time-varying parameters and unstructured uncertainties. Although the presented methodology is general, the specific family of systems considered is the latest, NextGen, unconventional fixed-wing unmanned aircraft with circulation control or morphing wings, or a combination of both. The approach considers various sources of model and parameter uncertainty, while the controller design depends not on a nominal plant model, but instead on a family of admissible plants. In contrast to existing controller designs that consider multiple models and multiple controllers, the proposed approach is based on the ‘one controller fits all models’ within the unstructured uncertainty interval. The book presents a modeling-based analysis and synthesis approach with additive uncertainty weighting functions for accurate realization of the candidate systems. This differs significantly from existing designs in that it is capable of handling time-varying characteristics. This research monograph is suitable for scientists, engineers, researchers and graduate students with a background in control system theory who are interested in complex engineering nonlinear systems.
Author: Aditya Undurti Publisher: ISBN: Category : Languages : en Pages : 164
Book Description
One of the main advantages of unmanned, autonomous vehicles is their potential use in dangerous situations, such as victim search and rescue in the aftermath of an urban disaster. Unmanned vehicles can complement human first responders by performing tasks that do not require human expertise (e.g., communication) and supplement them by providing capabilities a human first responder would not have immediately available (e.g., aerial surveillance). However, for unmanned vehicles to work seamlessly and unintrusively with human responders, a high degree of autonomy and planning is necessary. In particular, the unmanned vehicles should be able to account for the dynamic nature of their operating environment, the uncertain nature of their tasks and outcomes, and the risks that are inherent in working in such a situation. This thesis therefore addresses the problem of planning under uncertainty in the presence of risk. This work formulates the planning problem as a Markov Decision Process with constraints, and offers a formal definition for the notion of "risk". Then, a fast and computationally efficient solution is proposed. Next, the complications that arise when planning for large teams of unmanned vehicles are considered, and a decentralized approach is investigated and shown to be efficient under some assumptions. However some of these assumptions place restrictions - specifically on the amount of risk each agent can take. These restrictions hamper individual agents' ability to adapt to a changing environment. Hence a consensus-based approach that allows agents to take more risk is introduced and shown to be effective in achieving high reward. Finally, some experimental results are presented that validate the performance of the solution techniques proposed.
Author: 
Author: 
Author: 
Author: 
Author: Kenzo Nonami
Author: John Alexander Duncan
Author: Anthony Finn
Author: Michail G. Michailidis
Author: Michael Joseph Barnes
Author: Jijun Wang
Author: Aditya Undurti