TY - GEN
T1 - Network enabled cooperation of autonomous vehicles
T2 - OCEANS 2017 - Aberdeen
AU - Pinto, Jose
AU - Ribeiro, Manuel
AU - Giodini, Stefania
AU - L'Hoir, Patrick
AU - Sartore, Alessandro
AU - Giron-Sierra, J. M.
AU - Braga, Jose
AU - Sousa, Joao
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/25
Y1 - 2017/10/25
N2 - In this paper we present the NECSAVE system which allows the control of heterogeneous unmanned vehicles under challenging environments by a single human operator by providing it with the desired highlevel objectives. The described software stack takes care of decomposing the high-level objectives into assignable tasks and (re)distributing the workload among team members according to their announced capabilities and eventual failures. NECSAVE is robust to system failures by supporting decentralized planning and adapting allocation in face of platform losses. The system was validated in multiple field trials where NECSAVE was used for the coordination of heterogeneous vehicles under challenged communication environments, namely the sea using radio (at surface) and acoustic communications (underwater).
AB - In this paper we present the NECSAVE system which allows the control of heterogeneous unmanned vehicles under challenging environments by a single human operator by providing it with the desired highlevel objectives. The described software stack takes care of decomposing the high-level objectives into assignable tasks and (re)distributing the workload among team members according to their announced capabilities and eventual failures. NECSAVE is robust to system failures by supporting decentralized planning and adapting allocation in face of platform losses. The system was validated in multiple field trials where NECSAVE was used for the coordination of heterogeneous vehicles under challenged communication environments, namely the sea using radio (at surface) and acoustic communications (underwater).
UR - https://www.scopus.com/pages/publications/85044068509
U2 - 10.1109/OCEANSE.2017.8084774
DO - 10.1109/OCEANSE.2017.8084774
M3 - Conference contribution
AN - SCOPUS:85044068509
T3 - OCEANS 2017 - Aberdeen
SP - 1
EP - 6
BT - OCEANS 2017 - Aberdeen
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 19 June 2017 through 22 June 2017
ER -