An Autonomous Hierarchical Control Architecture for Unmanned Aerial Vehicles

2002 ◽  
Author(s):  
Jovan Boskovic ◽  
Ravi Prasanth ◽  
Raman Mehra
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Hierarchical Control ◽  
Control Architecture ◽  
Aerial Vehicles ◽  
Hierarchical Control Architecture

A Control Architecture for Mission Re-Planning and Plan Repair of AUV

2013 ◽  
Vol 462-463 ◽  
pp. 794-797
Author(s):  
Ru Bo Zhang ◽  
Hai Bo Tong ◽  
Chang Ting Shi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Hierarchical Control ◽  
Underwater Vehicle ◽  
Control Architecture ◽  
Real Word ◽  
Simulation Environment ◽  
Hierarchical Control Architecture ◽  
Planning Task ◽  
And Behavior ◽  
Influence Degree

This paper present a hybrid, hierarchical control architecture for mission re-planning and plan repair of autonomous underwater vehicle (AUV) navigating in dynamic and uncertain marine environment. The proposal carries out a component-oriented part-based control architecture structured in three parts: situation reasoning, re-planning trigger and hierarchical re-planning layer. Situation reasoning using the unstructured real-word information obtained by sorts of sensor detectes and recognizes uncertain event. According the event types and influence degree, the re-planning trigger decides the re-planning level. Hierarchical re-planning layer contains mission re-planning, task re-planning and behavior re-planning. Different re-planning level depends on the result of re-planning trigger. Preliminary versions of the architecture have been integrated and tested in a marine simulation environment.

scholarly journals Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

2013 ◽  
Vol 18 (4) ◽  
pp. 1334-1345 ◽  
Author(s):  
Dongjun Lee ◽  
Antonio Franchi ◽  
Hyoung Il Son ◽  
ChangSu Ha ◽  
Heinrich H. Bulthoff ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Control Architecture ◽  
Aerial Vehicles ◽  
Multiple Unmanned Aerial Vehicles

Task-oriented hierarchical control architecture for swarm robotic system

2016 ◽  
Vol 16 (4) ◽  
pp. 579-596 ◽  
Author(s):  
Yuquan Leng ◽  
Cen Yu ◽  
Wei Zhang ◽  
Yang Zhang ◽  
Xu He ◽  
...  
Keyword(s):  
Hierarchical Control ◽  
Robotic System ◽  
Control Architecture ◽  
Hierarchical Control Architecture ◽  
Task Oriented

scholarly journals A Hierarchical Control Architecture for the Control of Underwater Robots

1995 ◽  
Vol 28 (2) ◽  
pp. 60-65
Author(s):  
G. Bartolini ◽  
G. Cannata ◽  
G. Casalino ◽  
A. Ferrara
Keyword(s):  
Hierarchical Control ◽  
Control Architecture ◽  
Underwater Robots ◽  
Hierarchical Control Architecture
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