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Decision-Making for Automated Vehicles Using a Hierarchical Behavior-Based Arbitration Scheme [article]

Piotr Franciszek Orzechowski, Christoph Burger, Martin Lauer
2020 arXiv   pre-print
Behavior planning and decision-making are some of the biggest challenges for highly automated systems. A fully automated vehicle (AV) is confronted with numerous tactical and strategical choices.  ...  Inspired by these approaches, we propose a hierarchical behavior-based architecture for tactical and strategical behavior generation in automated driving.  ...  APPLICATION TO AUTOMATED DRIVING This chapter describes the main contribution of this publication: how a hierarchical behavior-based arbitration scheme can be utilized for decision-making in automated  ... 
arXiv:2003.01149v3 fatcat:bc623detm5dbbj7pnnynutq5oe

A Subsumptive, Hierarchical, and Distributed Vision-Based Architecture for Smart Robotics

G.N. DeSouza, A.C. Kak
2004 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
We present a distributed vision-based architecture for smart robotics that is composed of multiple control loops, each with a specialized level of competence.  ...  Index Terms-Assembly-on-the-fly, automation, computer vision, distributed architectures, robotics, vision-based architecture, visual servoing.  ...  Bolhouse, and the staff of the Advanced Manufacturing Technology Development, Ford AMTD, for providing inspiration and feedback in terms of what will be the requirements of the automations of the future  ... 
doi:10.1109/tsmcb.2004.831768 pmid:15503495 fatcat:5scgsqnfvbcqxjuufochihq32e

Guest editorial

R. Zurawski
2002 IEEE transactions on industrial electronics (1982. Print)  
WideCAN is based on the tree topology and employs a multistage hierarchical arbitration technique that allows for a substantially larger network extension.  ...  A potential solution is proposed in the fourth paper, "A Multistage Hierarchical Distributed Arbitration Technique for Priority-Based Real-Time Communication Systems," also by G. Cena and A.  ... 
doi:10.1109/tie.2002.804959 fatcat:k5hxmjxytrbrzhprlfw3hi4jsu

From the Concept of Being "the Boss" to the Idea of Being "a Team": The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework

Mauricio Marcano, Fabio Tango, Joseba Sarabia, Andrea Castellano, Joshué Pérez, Eloy Irigoyen, Sergio Díaz
2021 Applied Sciences  
Tests are performed in a use case where support for a distracted driver is given.  ...  in automation decisions and actions.  ...  , then the high-level decision-making (the arbitration system) is given more flexibility and can be adapted for different use cases without the risk of modifying the fundamental controller behavior.  ... 
doi:10.3390/app11156950 fatcat:e2aq23ejobajtb5ybu666wzps4

Why Is Internet of Autonomous Vehicles Not As Plug And Play As We Think? Lessons To Be Learnt From Present Internet and Future Directions

Sameer Qazi, Farah Sabir, Bilal A. Khawaja, Syed Muhammad Atif, Muhammad Mustaqim
2020 IEEE Access  
The recent race for autonomous or 'driverless' vehicles, has spawned a lot of research in the area of Internet of Autonomous Vehicles (IAVs).  ...  With the advent of the latest technology fueled by Artificial Intelligence and Machine Learning, Autonomous Vehicles (AVs) can now determine the best possible route to a destination based on the current  ...  In paper [105] , the authors proposed a behavioral-biometric-based authentication scheme for riders.  ... 
doi:10.1109/access.2020.3009336 fatcat:djvcl3endvchhg5m4bwqr3zxme

Fuzzy behavior hierarchies for multi-robot control

Edward Tunstel, Marco A. A. de Oliveira, Sigal Berman
2002 International Journal of Intelligent Systems  
The approach is used to implement hierarchical behavior-based controllers for autonomous navigation of one or more mobile robots.  ...  Hierarchical approaches and methodologies are commonly used for control system design and synthesis.  ...  Acknowledgment The work described in this article was started at the Center for Autonomous Control Engineer  ... 
doi:10.1002/int.10032 fatcat:dsz4cd25prbmtodu7yhjntbehu

Towards Tactical Lane Change Behavior Planning for Automated Vehicles

Simon Ulbrich, Markus Maurer
2015 2015 IEEE 18th International Conference on Intelligent Transportation Systems  
behavior decision making for automated vehicles.  ...  ., 2008) used a behavior-based approach with arbitration between tactical behavior options.  ...  Typical maneuvers in the field of automated driving are for instance overtaking another vehicle or performing a lane change. For a detailed discussion, the reader is referred to section . .  ... 
doi:10.1109/itsc.2015.165 dblp:conf/itsc/UlbrichM15a fatcat:l7ml47juuzcb3jzcznhgo5mg7y

An architectural framework for modeling teleoperated service robots

Bárbara Álvarez, Pedro Sánchez-Palma, Juan A. Pastor, Francisco Ortiz
2005 Robotica (Cambridge. Print)  
This approach provides a common framework for developing robotized systems with very different behaviors and for integrating intelligent components.  ...  The architecture is currently being used, tested and improved in the development of a family of teleoperated robots which perform cleaning of ship-hull surfaces.  ...  The SUC/MUC composition produces a hierarchical architecture where the decisions flow from the top down and the information flows from the bottom up.  ... 
doi:10.1017/s0263574705002407 fatcat:l7sb52nl7barboehmvtmlydgrm

Control architectures for autonomous underwater vehicles

1997 IEEE Control Systems  
In this article, the four types of control architectures being used for AUVs (hierarchical, heterarchical, subsumption, and hybrid architecture) are reviewed.  ...  Untethered underwater vehicles may be divided into two groups based on their maneuvering characteristics [5]: cruising vehicles, used for surveys, search, object delivery, and object 10cation, which run  ...  The system can retrieve information and make decisions for recovery techniques based on previously stored information.  ... 
doi:10.1109/37.642974 fatcat:jxpg2hyhkbfsrazirwc36ejjee

Onboard Mission Management for a VTOL UAV Using Sequence and Supervisory Control [chapter]

Florian Adolf, Franz Andert
2010 Cutting Edge Robotics 2010  
Since real-time properties are one crucial design aspect for a UAV decision-making system, a real-time derivate of SOAR, Hero-SOAR exists.  ...  Concepts exist that are based on the behavior-based paradigm (Weiss 2005) , where a set of elementary behaviors (so-called skills, such as movement primitives) is combined in such a way that a new emergent  ...  Example for an automated planning is used to generate the sequence of behaviors.  ... 
doi:10.5772/10323 fatcat:wghw3fksafa6dgsvsxckof52hu

Sensor Fusion for Mobile Robot Navigation

M. Kam, Xiaoxun Zhu, P. Kalata
1997 Proceedings of the IEEE  
The review provides an arsenal of tools for addressing this (rather ill-posed) problem in machine intelligence, including Kalman filtering, rule-based techniques, behavior based algorithms, and approaches  ...  indirect integration of sensory data in hierarchical architectures, through command arbitration and integration of control signals suggested by different modules.  ...  Behavior-Based Architectures A widely studied approach to robot navigation in dynamic environments is the family of behavior-based robot control schemes, which use situationally reactive behaviors and  ... 
doi:10.1109/jproc.1997.554212 fatcat:adofsedn2jd2bauazbslm46jea

Service fabric

Gopal Kakivaya, Vipul Modi, Mansoor Mohsin, Ray Kong, Anmol Ahuja, Oana Platon, Alex Wun, Matthew Snider, Chacko Daniel, Dan Mastrian, Yang Li, Lu Xun (+21 others)
2018 Proceedings of the Thirteenth EuroSys Conference on - EuroSys '18  
We then adopt a bottom-up approach to describe low-level components in its architecture, focusing on modular use and support for strong semantics like fault-tolerance and consistency within each component  ...  We describe Service Fabric (SF), Microsoft's distributed platform for building, running, and maintaining microservice applications in the cloud.  ...  We thank the reviewers and our shepherd Romain Rouvoy for their insightful comments.  ... 
doi:10.1145/3190508.3190546 dblp:conf/eurosys/KakivayaXHAPSGT18 fatcat:snykfsbcindnppt57g47jxwdku

Artificial Intelligence for Vehicle-to-Everything: A Survey

Wang Tong, Azhar Hussain, Wang Xi Bo, Sabita Maharjan
2019 IEEE Access  
Artificial intelligence (AI) has been widely used to optimize traditional data-driven approaches in different areas of the scientific research.  ...  This paper presents a comprehensive survey of the research works that have utilized AI to address various research challenges in V2X systems.  ...  Therefore, in [78] , a hierarchical neural network policy VOLUME 7, 2019 Although recent developments for autonomous driving have been significant, vehicles need to have advanced decision making abilities  ... 
doi:10.1109/access.2019.2891073 fatcat:kpojxobitvd7fdinkvqnchvtdm

A Systematic Survey of Attack Detection and Prevention in Connected and Autonomous Vehicles [article]

Trupil Limbasiya, Ko Zheng Teng, Sudipta Chattopadhyay, Jianying Zhou
2022 arXiv   pre-print
This survey paper extensively provides a discussion on the overview of different ADPS categories and state-of-the-art research works based on each ADPS category that gives the latest findings in this research  ...  Furthermore, there is a scope for discussing security, privacy, and efficiency challenges in ADPS that can give an overview of important security and performance attributes.  ...  We thank LTA colleagues and project team members for their helpful input.  ... 
arXiv:2203.14965v1 fatcat:4orttcmbjfei5dbhsjnaovmm7a

Distributed Intelligence for Air Fleet Control [chapter]

Randall Steeb, Stephanie Cammarata, Frederick A. Hayes-Roth, Perry W. Thorndyke, Robert B. Wesson
1988 Readings in Distributed Artificial Intelligence  
'l040b APPROVED FOR PUBLIC RELEASE: DISTRIBUTION UNLIMITED PREFACE This report summarizes the results of a nine-month investigation of distributed intelligence for air fleet control, conducted for the  ...  The work has focused on development of organizations for cooperative problem-solving in complex, spatially distributed systems, using air traffic control as an illustrative context.  ...  Such schemes include the space-cente red, function-cen tered, and hierarchical architecture s.  ... 
doi:10.1016/b978-0-934613-63-7.50011-5 fatcat:pvhtxcl7jvfe3oeja4s6swwwy4
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