The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Advanced approaches to intelligent, real-time decision making are difficult to test for multi-agent systems. Specifically, the expense and logistics of fielding multiple unmanned underwater vehicles in an open ocean environment are significant challenges in marine autonomy. Traditionally, algorithms may be developed and tested under ideal conditions with tools that do not accurately reflect real-time...
We present a novel, deeply embedded robotics middleware and programming environment. It uses a multithreaded, publish-subscribe design pattern and provides a Unix-like software interface for micro controller applications. We improve over the state of the art in deeply embedded open source systems by providing a modular and standards-oriented platform. Our system architecture is centered around a publish-subscribe...
Recent developments in centralized ICT architectures have realized the abstraction of hardware and communications functionality into software within for of highly assisted and autonomous vehicles. This development requires a data-centric approach to the integration and fusion of sensory information within the vehicle. We address this requirement through utilizing a hierarchical framework of intelligent...
An application for offline Reinforcement Learning in the underwater domain is proposed. We present and evaluate the integration of the Q-learning algorithm into an Autonomous Underwater Vehicle (AUV) for learning the action-value function in simulation. Three separate experiments are presented. The first compares two search policies: the ε - least visited, and random action, with respect to convergence...
With the proliferation of automobile industry, vehicles are augmented with various forms of increasingly powerful computation, communication, storage and sensing resources. A vehicle therefore can be regarded as “computer-on-wheels”. With such rich resources, it is of great significance to efficiently utilize these resources. This puts forward the vision of vehicular cloud computing. In this paper,...
In this paper, we describe a cooperative architecture in which multiple Autonomous Underwater Vehicles (AUVs) cooperate to locate underwater targets. Each AUV is endowed with a sensor that estimates its distance with respect to targets, and cooperate with others to explore an area with the help of an autonomous surface vehicle (ASV) that stores the gathered information map and acts as a communication...
This article describes concepts evaluated at NATO Undersea Research Centre (NURC) recent experiment as the part of Autonomous Mine Countermeasures (MCM) Program. We investigated the possibility of reacquisition of the target with the Autonomous Surface Vehicle (ASV), the possibility of controlling the position of the ASV relative to the target location, and tested the concept of guiding a neutralization...
The purpose of this paper is to present Thetis: a real-time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulator allows Hardware In Loop (HIL) simulations including virtual sensors which allow to provide a representation of a virtual world, and including the support of communication devices. The architecture of this simulator is conceived so that it ensures a temporal decoupling...
We present a system software architecture for mobile robots such as autonomous vehicles. The system achieves the goals of flexibility, maintainability, testability, and modifiability through a decoupled software architecture based on an asynchronous publish-subscribe mechanism and a blackboard object handling synchronized access to shared data. We report on two implementations using the proposed generic...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.