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Model-Based Coordination of Autonomous Vehicle Teams

[+] Author Affiliations
Cary Czichon, Robert W. Peterson

Advanced Coordination Technologies, LLC

Erik Mettala

Sparta, Inc.

Jerry Speer, Jeff Stahl

U.S. Army

Paper No. IMECE2005-81073, pp. 203-212; 10 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


In order to coordinate autonomous robotic vehicle teams as they perform tactical tasks, a task formalism incorporating graphical (but mathematically rigorous) process models is being used. This extendable formalism, associated modeling methodology, and integrated modeling and execution environment are being developed by a U.S. Army funded SBIR project (RDECOM Contract N61339-04-C-0005). Colored Petri Nets (CPNs) provide the mathematical rigor needed for task and composite (ensemble) behavior modeling, while being conceptually elegant and easily displayed. Higher level task models can contain more fundamental models, allowing hierarchical model composition. Typed places within CPNs can hold tokens representing robotic equipment performing specific roles in a mission comprised of one or more tactical tasks. Army Tactical Tasks (ARTs) are defined within the Army Universal Task List (AUTL), FM 7-15. CPN mechanics support task synchronization and process simulation. CPN-based models can be enhanced to incorporate adaptive reasoning and dynamic/summative evaluation capabilities. In this SBIR project, executable task models are encapsulated by task agents operating within agent clusters. These clusters control virtual robotic vehicles (existing within constructive simulators like OneSAF) while multi-stage tactical missions are being performed.

Copyright © 2005 by ASME
Topics: Vehicles , Teams



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