Generic architecture for multi-AUV cooperation based on a multi-agent reactive organizational approach

Nicolas Carlesi, Fabien Michel, Bruno Jouvencel, Jacques Ferber
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Because Autonomous Underwater Vehicles (AUVs) have limited perception and communication capabilities, designing efficient AUV flotillas is challenging. Existing solutions are often strongly related to (1) a specific kind of mission and (2) the nature of the considered AUVs. So, it is difficult to reuse these approaches when switching to another mission context. This paper proposes a generic multi-agent based layered architecture for designing and specifying AUV flotillas at a high level of
more » ... action, regardless of the AUVs characteristics and skills. To this end, an organizational model is used to ease and regulate interactions between heterogeneous AUVs and combined with a behavioral reactive approach for limiting communication.
doi:10.1109/iros.2011.6095036 dblp:conf/iros/CarlesiMJF11 fatcat:4ezdidu73fdbth7f6pkcff7gem