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Cooperative navigation for heterogeneous autonomous vehicles via approximate dynamic programming

Silvia Ferrari, Michael Anderson, Rafael Fierro, Wenjie Lu
2011 IEEE Conference on Decision and Control and European Control Conference  
In this paper, we present an approximate dynamic programming (ADP) approach to cooperative navigation for heterogeneous sensor networks.  ...  The goal of the ADP algorithm is to coordinate a team of heterogeneous autonomous vehicles (i.e., ground robot and quadrotor UAV) to navigate within an obstacle populated environment while satisfying collision  ...  CONCLUSIONS In this paper we present a hybrid system framework and outline an approximate dynamic programming approach to cooperative navigation for heterogeneous sensor networks.  ... 
doi:10.1109/cdc.2011.6161127 dblp:conf/cdc/FerrariAFL11 fatcat:ycaulpimpfhvho5qgxipybjpjq

Cooperative control of heterogeneous robotic systems

N. Miskovic, S. Bogdan, I. Petrovic, Z. Vukic
2014 2014 37th International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO)  
Establishing a cooperative heterogeneous robotic system comprising autonomous vehicles operating in air, on ground and on/under water is a challenging task that can significantly contribute solving complex  ...  Tasks of each vehicle are described and emphasis is placed on the actions and communication routes that are required to ensure cooperative behavior. I.  ...  The primary motivation for research in the areay of cooperative control of heterogeneous robotic systems is to enable sinergy between autonomous unmanned land, air and marine robots for the purpose of  ... 
doi:10.1109/mipro.2014.6859711 dblp:conf/mipro/MiskovicBPV14 fatcat:3zb6dgc4cfe35n7jrsvgdmuasq

Guest editorial: Special issue on distributed robotics—from fundamentals to applications

Roderich Groß, Andreas Kolling, Spring Berman, Alcherio Martinoli, Emilio Frazzoli, Fumitoshi Matsuno
2018 Autonomous Robots  
The associated planning problem for Multi-Object Collection via Cooperative Towing is proven to be NP-hard.  ...  This paper presents a decentralized hierarchical planning and coordination framework for cooperative multi-robot teams composed of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs).  ... 
doi:10.1007/s10514-018-9803-9 fatcat:7qovvvqmsbe7zez4kbujzmfs5e

Experiments with Cooperative Control of Underwater Robots

Matthew Dunbabin, Peter Corke, Iuliu Vasilescu, Daniela Rus
2009 The international journal of robotics research  
Cooperative navigation is defined as the ability of a coupled system of autonomous robots to pool their resources to achieve long-distance navigation and a larger controllability space.  ...  An alternative approach is modular cooperative underwater robots that can deploy and recover sensor networks. The deployer is an autonomous vehicle with stackable sensing modules of uniform shape.  ...  the interface between Flecks and Starbug and support for data muling; and Leslie Overs for electronics support.  ... 
doi:10.1177/0278364908098456 fatcat:bg7mib35wfbazojpy4ehobpwci

A Comprehensive Survey on Cooperative Intersection Management for Heterogeneous Connected Vehicles

Ashkan Gholamhosseinian, Jochen Seitz
2022 IEEE Access  
management methods for heterogeneous connected vehicles (CVs).  ...  vehicles, and railway vehicles like trains or trams are able to communicate cooperatively using vehicle-to-everything (V2X) communications and provide traffic safety, efficiency, infotainment and ecological  ...  [163] exploited a V2I-based approach to attain an optimal passage sequence and minimize the crossing times for the autonomous vehicles at isolated intersections based on dynamic programming.  ... 
doi:10.1109/access.2022.3142450 fatcat:amvrhgdztfdmdmpdtnzrhpkxli

Autonomous Unmanned Heterogeneous Vehicles for Persistent Monitoring

Vaios Lappas, Hyo-Sang Shin, Antonios Tsourdos, David Lindgren, Sylvain Bertrand, Julien Marzat, Hélène Piet-Lahanier, Yiannis Daramouskas, Vasilis Kostopoulos
2022 Drones  
The work presented in this paper describes one of the first attempts to integrate all swarm-related technologies into a prototype, demonstrating the benefits of swarms of heterogeneous vehicles for defence  ...  of systems' composed of static and mobile heterogeneous sensors.  ...  Using a model of the vehicle dynamics, predict the effect of each control sequence of the set of candidates S on the state of the vehicle; 2.  ... 
doi:10.3390/drones6040094 fatcat:tarq7frvrvflbfspe3qxplo534

Research advances in the development status and key technology of unmanned marine vehicle swarm operation

Wei XIE, Hao TAO, Junbin GONG, Wei LUO, Fengchuan YIN, Xiaolong LIANG
2021 Zhongguo Jianchuan Yanjiu  
This study can provide valuable references for research on UMV swarm operation technology.  ...  It then analyzes the key technologies of UMV swarm cooperative engagement, including self-organizing communication, collaborative situational awareness, tasking, path planning, formation control and virtual  ...  Self-learning PD algorithms based on approximate dynamic programming for robot motion planning[C]//2014 International Joint Conference on Neural Networks (IJCNN).  ... 
doi:10.19693/j.issn.1673-3185.02225 doaj:6db0f2fd50a24fbc937cbee9a2362837 fatcat:pf563eemgjejnoqlozhzi5xciy

2021 Index IEEE Transactions on Robotics Vol. 37

2021 IEEE Transactions on robotics  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  ., +, TRO Oct. 2021 1487-1507 Motivation Dynamics for Autonomous Composition of Navigation tasks.  ...  Qureshi, A.H., +, TRO Feb. 2021 48-66 Motivation Dynamics for Autonomous Composition of Navigation tasks.  ... 
doi:10.1109/tro.2022.3141270 fatcat:wbcpmrap6ndprec2gtu7m2yhmy

Design and Hardware-in-the-Loop Integration of a UAV Microavionics System in a Manned–Unmanned Joint Airspace Flight Network Simulator

Serdar Ates, Ismail Bayezit, Gokhan Inalhan
2008 Journal of Intelligent and Robotic Systems  
The system is designed to be cross-compatible across our experimental mini-helicopters, aircrafts and ground vehicles, and it is tailored to allow autonomous navigation and control for a variety of different  ...  The flight simulator is used for joint simulation of virtual manned and unmanned vehicles within a common airspace.  ...  for mechanical support, Oktay Arslan for his work at joint flight network simulator integration, Captain Selim Etger for being the test pilot and Melih Fidanoglu for kindly providing the logistics support  ... 
doi:10.1007/s10846-008-9270-1 fatcat:o3i7hajj5jc5lk5qcw52sseoga

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA April 2020 3027-3034 State-Continuity Approximation of Markov Decision Processes via Finite Element Methods for Autonomous System Planning.  ...  ., +, LRA July 2020 3967-3974 State-Continuity Approximation of Markov Decision Processes via Finite Element Methods for Autonomous System Planning.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

A Deep Reinforcement-Learning-based Driving Policy for Autonomous Road Vehicles

Konstantinos Makantasis, Maria Kontorinaki, Ioannis Nikolos
2019 IET Intelligent Transport Systems  
In this work, the problem of path planning for an autonomous vehicle that moves on a freeway is considered.  ...  The derived reinforcement learning policy, firstly, is compared against an optimal policy derived via dynamic programming, and, secondly, its efficiency is evaluated under realistic scenarios generated  ...  Acknowledgment This research was implemented through and has been financed by the Operational Program 'Human Resources Development, Education and Lifelong Learning' and is co-financed by the European Union  ... 
doi:10.1049/iet-its.2019.0249 fatcat:hr2dunbncfh53hgqh5i32lgrd4

Adaptive teams of autonomous aerial and ground robots for situational awareness

M. Ani Hsieh, Anthony Cowley, James F. Keller, Luiz Chaimowicz, Ben Grocholsky, Vijay Kumar, Camillo J. Taylor, Yoichiro Endo, Ronald C. Arkin, Boyoon Jung, Denis F. Wolf, Gaurav S. Sukhatme (+1 others)
2007 Journal of Field Robotics  
; (c) programming abstractions and composition of controllers for multi-robot deployment; (d) cooperative control strategies for search, identification, and localization of targets; and (e) three-dimensional  ...  In this paper, we present the component technologies and the integration of these technologies for the development of an adaptive system of heterogeneous robots for urban surveillance.  ...  A special thanks to Mike Barnes and Irv (Rod) Rodriguez and their colleagues at the Soldier Battle Lab for their support at Ft. Benning.  ... 
doi:10.1002/rob.20222 fatcat:tnf2t5su7nfrjhhsptuq6gidpe

Scanning the Issue

Azim Eskandarian
2021 IEEE transactions on intelligent transportation systems (Print)  
Deep learning has emerged as a prominent class of techniques for autonomous driving. This article reviews the stateof-the-art techniques using deep neural networks to control autonomous vehicles.  ...  Research Advances and Challenges of Autonomous and Connected Ground Vehicles A. Eskandarian, C. Wu, and C.  ...  ReinforcementDriving: Exploring Trajectories and Navigation for Autonomous Vehicles M. Liu, F. Zhao, J. Niu, and Y.  ... 
doi:10.1109/tits.2021.3052540 fatcat:wvccn3i32jdaxoov6mibk2tlku

Collaborative mapping of an earthquake-damaged building via ground and aerial robots

Nathan Michael, Shaojie Shen, Kartik Mohta, Yash Mulgaonkar, Vijay Kumar, Keiji Nagatani, Yoshito Okada, Seiga Kiribayashi, Kazuki Otake, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi (+1 others)
2012 Journal of Field Robotics  
Acknowledgements The authors gratefully acknowledge partial support from NSF Grant CNS-1138110, ARL Grant W911NF-08-2-0004, the JST J-RAPID program, and the NEDO Project for Strategic Development of Advanced  ...  The experiment design highlights the need for heterogeneity.  ...  a path and autonomously navigate through the confined space.  ... 
doi:10.1002/rob.21436 fatcat:ayed2cvgs5grri36jnektzxbie

A mission programming system for an autonomous sailboat

Jose C. Alves, Nuno A. Cruz
2014 2014 Oceans - St. John's  
Robotic sailing vehicles can provide the support for carrying out long ocean sampling missions, using solely renewable energy for propulsion and for powering the computing, communication and electromechanical  ...  This paper presents a simple, flexible and easy to use mission programming system implemented in the autonomous sailing boat FASt.  ...  e a Tecnologia (Portuguese Foundation for Science and Technology) within project FCOMP-01-0124-FEDER-037281  ... 
doi:10.1109/oceans.2014.7003229 fatcat:6gbbqfo7ujhklhv5louor5pgxm
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