tailieunhanh - supervised tactical mobility behavior modeling and control of multi agent robotic vehicles

The exact relations between science and technology in particular have been debated by scientists, historians, and policymakers in the late 20th century, in part because the debate can inform the funding of basic and applied science. In the immediate wake of World War II, for example, in the United States it was widely considered that technology was simply "applied science" and that to fund basic science was to reap technological results in due time. An articulation of this philosophy could be found explicitly in Vannevar Bush's treatise on postwar science policy, Science—The Endless Frontier: "New products, new industries, and more. | SUPERVISED TACTICAL MOBILITY BEHAVIOR MODELING AND CONTROL OF MULTI-AGENT ROBOTIC VEHICLES Amir Shirkhodaie Intelligent Tactical Mobility Robotic Research Laboratory Department of Mechanical Engineering Tennessee State University ABSTRACT In this paper we have discussed technical issues regarding supervised tactical mobility modeling and control of multiagent robotic vehicles operating in unstructured environment. An integrated Supervisory Mobility Controller SMC has been developed that accommodates cooperative deployment of robotic vehicles in different modes of operation. Tactical behaviors of the mobile robots are initially modeled tested and validated in simulation envữonment under FMCell robotic software and then implemented into the SMC. The controller is used for development tactical mobility schemes for a group of six small-scale intelligent autonomous robot equipped with a variety of basic navigational sensors. In this paper we describe functional and modular architecture of the Supervisory Mobility Controller and present some of our strategies for separation of supervisory functions according to their complexity precedence and intelligence. Furthermore we have discussed intelligent schemes for supervised maneuverability control of our cooperative robotic vehicles. Some examples demonstrating practical applications of the newly developed techniques for military UGV s applications have been presented. Keywords Multi-Agent Robotic Vehicles Supervisory Control System Intelligent Navigational Schemes t 1. INTRODUCTION E- Ị Development of intelligent Unmanned Ground Vehicles UGV s is a current robotic research focus of DoD. Robotic ị applications such as surveillance reconnaissance target tracking coordinated deployment decoying shipboard ị guarding and cleaning mine search and disposal rescue operations medical emergency fire distinguishing and Ẹ material handling are some of notable applications that multi-agent UGV s are recognized to have significant .