Automated planning for collaborative UAV systems
Automated planning for collaborative UAV systems
复制标题
协作无人机系统的自动规划
DOI：
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复制
发表时间：
2010
期刊：
影响因子：
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通讯作者：
P. Doherty
中科院分区：
文献类型：
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作者：
Jonas Kvarnström;P. Doherty
无人机协同使命规划是一个复杂的问题，涉及到所需的集中或分散程度、规划生成的抽象程度以及规划在参与的无人机之间的分布程度之间的权衡。在现实环境中，例如在涉及应急服务人员的自然和人为灾难中发现的环境中，一定程度的集中和抽象是必要的，以便负责人理解并最终签署潜在的计划。同样经常出现的情况是，无约束的动作分布与协作系统之间出现的松散耦合的交互和依赖不一致。在这篇文章中，我们提出了一个新的规划算法的基础上，合作无人机系统：S相结合的思想，从正向规划与偏序规划，导致一个新的混合偏序正向链（POFC）框架，满足集中，抽象和分布的要求，我们发现在现实的紧急服务设置。
Mission planning for collaborative Unmanned Aircraft Systems (UAS:s) is a complex topic which involves trade-offs between the degree of centralization or decentralization required, the degree of abstraction in which plans are generated, and the degree to which such plans are distributed among participating UAS:s. In realistic environments such as those found in natural and man-made catastrophes where emergency services personnel are involved, a certain degree of centralization and abstraction is necessary in order for those in charge to understand and eventually sign off on potential plans. It is also quite often the case that unconstrained distribution of actions is inconsistent with the loosely coupled interactions and dependencies which arise between collaborating systems. In this article, we present a new planning algorithm for collaborative UAS:s based on combining ideas from forward chaining planning with partial-order planning leading to a new hybrid partial order forward-chaining (POFC) framework which meets the requirements on centralization, abstraction and distribution we find in realistic emergency services settings.