Paper Info
Title
Architecture and Application Abstractions for Multi-Agent Collaboration Projects
Abstract
In this paper, we propose that all applications for multi-agent collaborative control, and in particular fixed-wing unmanned aerial vehicles, can be be described through three basic behaviors. They are Travelling, Watching, and Tracking. These three behaviors are constructed from two primitive actions, going somewhere and holding at a particular location. The semantics of the behaviors are clearly defined and justify why these three are chosen. The ability of these behaviors to easily program different missions through hybrid stateflow is illustrated through examples of previously-demonstrated applications. Furthermore, this paper outlines three levels of abstrac- tion for a software architecture for collaborative control. In particular, we focus on an procedural-level abstraction that illustrates where the above three behaviors can be used to define applications. This level of abstraction displays software modularity such that different members of a research group can work independently while maintaining a structure that allows successful experimental implementation on the multi-agent platform. Moreover, this modularity allows project members to perform various disparate applications with the platform without considerable software modification. It also promotes software reuse after members leave the group. While focusing primarily on fixed-wing aerial vehicles, the approach presented here is equally applicable to ground and rotorcraft vehicles.
Year
DOI
Venue
2005
10.1109/CDC.2005.1582716
conference on decision and control
DocType
ISSN
Citations 
Conference
0191-2216
3
PageRank 
References 
Authors
0.53
2
2
Name
Order
Citations
PageRank
Derek Caveney11308.14
Raja Sengupta21468258.78