Intelligent Autonomy for Unmanned Marine Vehicles : Robotic Control Architecture Based on Service-Oriented Agents (Studies in Systems, Decision and Control)

Insaurralde, Carlos C.

Springer International Publishing AG（2016/10発売）

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製本 Paperback:紙装版/ペーパーバック版／ページ数 231 p.
商品コード 9783319369242

Full Description

This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.

Introduction.- Existing Robotic Control Architectures.- Intelligent Control Architecture.- Architecture Design.- Architecture Realization.- Architecture Evaluation.- Conclusions and Future Work.