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dc.contributor.authorFurfaro, Thomas C.
dc.date.accessioned2019-06-18T10:11:41Z
dc.date.available2019-06-18T10:11:41Z
dc.date.issued2019/05
dc.identifier.govdocCMRE-PR-2019-026en_US
dc.identifier.urihttp://hdl.handle.net/20.500.12489/767
dc.description.abstractWe have designed and implemented a framework for the development and deployment of multi-agent task allocation solutions, with particular awareness of the operational constraints encountered by Unmanned Maritime Systems (UMS). This framework, which we call the Distributed/Decoupled Collaborative Autonomy Framework (D 2 CAF), is a set of software modules that allow researchers to develop the underlying task allocation algorithms largely independent of engineering concerns (communications, vehicle interface, etc.). The framework is distributed as it provides tools to perform over-the-network (including underwater) communications between instances of the framework hosted on physically disconnected agents. The framework is decoupled in that it realizes an abstract separation between the invocation of a task and its execution. D 2 CAF has been used in several at-sea campaigns, deployed on real autonomous underwater vehicles (AUVs) promoting the execution of MCM missions.en_US
dc.format6 p. : ill. ; digital, PDF fileen_US
dc.language.isoenen_US
dc.publisherCMREen_US
dc.sourceIn: OCEANS 2018 MTS/IEEE Charleston, 22-25 October 2018, doi: 10.1109/OCEANS.2018.8604532en_US
dc.subjectUnmanned naval vehiclesen_US
dc.subjectAutonomous Underwater Vehicles (AUV)en_US
dc.subjectMission planningen_US
dc.subjectAlgorithmsen_US
dc.subjectCooperative systemsen_US
dc.subjectMine countermeasures (MCM)en_US
dc.titleA distributed framework for embedded collaborative autonomyen_US
dc.typeReprint (PR)en_US
dc.typePapers and Articlesen_US


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