Cooperative Distributed Problem Solving for Controlling Semi-Autonomous and Autonomous Oceanographic Sampling Networks
Abstract
This report covers the final portion of the second phase of a long-term collaborative project between the Department of Computer Science, University of Maine, and The Autonomous Undersea Systems Institute (AUSI). This program is focused on developing an intelligent control mechanism for an autonomous oceanographic sampling networks (AOSN). An AOSN [4] is defined as a group of underwater vehicles and instrument platforms (VIPs) that can autonomously or semi-autonomously work together to carry out long-term sampling missions in an area of interest. The long-term goal is to develop an AOSN control mechanism that can autonomously or semi-autonomously control an AOSN as it conducts long-term, complex missions. A part of this goal is to develop a language that can be used among the VIPs as they accomplish a defined task within the AOSN. This AOSN control scheme will allow the components of an AOSN to be deployed, then have them autonomously self-organize into an AOSN that can effectively carry out a mission. Related work, also funded by ONR (grant number N0001-14-98-1-0648), focuses on assigning mission tasks to VIPs within the AOSN and on selecting an appropriate organizational structure (e.g., a hierarchy) to use to conduct the mission given a specific mission, environment, and AOSN composition (i.e., which vehicles and instrument platforms are present and functional).
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 30, 1999
- Accession Number
- ADA631035
Entities
People
- D. R. Blidberg
- Elise H. Turner
- Roy M. Turner