Hierarchical Architecture for Coordinating Ground Vehicles in Unstructured Environments

Abstract

This article presents a hierarchy of planners that can be used to coordinate multiple automous vehicles for different applications. The particular architecture reduces complexity and creates a constrained representation that in turn generates a wide variety of complex behaviors. This article will concentrate on the upper levels of the hierarchy assuming that the autonomous mobility tasks can be executed by the lower levels of the hierarchy. A particular set of examples for the US Army's Demo III project will be presented.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2001
Accession Number
ADA516133

Entities

People

  • Alberto Lacaze

Organizations

  • National Institute of Standards and Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Classification
  • Engineering
  • Environment
  • Ground Vehicles
  • Hierarchies
  • Information Operations
  • Instructions
  • Intelligent Systems
  • Mobility
  • Standards
  • Vehicles
  • Workshops

Readers

  • Military Science and Technology Research and Modernization.
  • Systems Analysis and Design