Control Of Self-organizing And Geometric Formations Of Autonomous Mobile Robots

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  Control of Self-Organizing andGeometric Formations of Autonomous Mobile Robots Elisha PrunerJanuary 11, 2013Supervisor: Dr. Dan Necsulescu  In cooperation with Defense Research and Development Canada   INTRODUCTION  Demand for Unmanned VehicleSystems in Military Applications ã   In 2001, the US congress was sufficiently persuaded by the militarypotential of these systems that it directed its Department of Defensethat:–   One third of all operational deep strike force aircraft must be unmanned by 2010–   One third of its operational ground combat vehicles must be unmanned by 2015 ã   Although fully autonomous UVS is still a long way away, the deadlineshave applied considerable pressure of the US military to introducelarge numbers of tele-operated or semi-autonomous UVS intocapabilityã   Advantages of UVS –   Reduce risk to war-fighting personnel–   Reduce cost of acquisition and operations–   Revolutionary impact on military operations, and how we fight wars  Unmanned Ground Vehicles Remote control and teleoperation - a human operator controls a robotic vehiclefrom a distance- the human performs all the cognitiveprocesses- the onboard sensors and communicationsenable the operator to visualize the locationand movement of the platform within itsenvironment Semi-autonomous - these systems have advanced navigation,obstacle avoidance, and data fusioncapabilities that minimize the need for operator interaction- they have sufficient on-board processing toadapt to simple changes in objectivedesignated by an operator  Platform-centric autonomous - a fully autonomous UVS can undertakecomplex task/missions, acquiring informationfrom other sources as required- it can respond to additional commands froma controller without the need for further guidance Network-centric autonomous - these systems have sufficient autonomy tooperate as independent nodes- they should be capable of receivinginformation from the network, incorporating itin their mission planning and execution, andresponding to other information requests,including resolution of conflicting commands