This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. ...This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.展开更多
Multi-agent systems have demonstrated significant potential in enhancing task efficiency by acting collaboratively and concurrently.However,when inter-agent communication is limited to short-range or intermittent link...Multi-agent systems have demonstrated significant potential in enhancing task efficiency by acting collaboratively and concurrently.However,when inter-agent communication is limited to short-range or intermittent links,achieving effective coordination becomes significantly challenging.The difficulty is further amplified in partially unknown environments,where agents must actively sense the environment and share observations to improve situational awareness.This work presents an online decentralized framework that integrates temporal task coordination,active information gathering,and team-wise intermittent communication for multi-agent systems.The proposed method jointly optimizes the motion plan of each agent to satisfy local temporal logic tasks,selects informative sensing locations to reduce environmental uncertainty,and schedules team-wise communication to ensure timely information exchange under connectivity constraints.Extensive simulations in large-scale scenarios demonstrate the scalability and robustness of the framework in achieving reliable task completion,efficient uncertainty reduction,and resilient team communication.展开更多
文摘This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.
基金supported by the National Natural Science Foundation of China(Grants Nos.62425301,U2241214,62373008,T2121002)。
文摘Multi-agent systems have demonstrated significant potential in enhancing task efficiency by acting collaboratively and concurrently.However,when inter-agent communication is limited to short-range or intermittent links,achieving effective coordination becomes significantly challenging.The difficulty is further amplified in partially unknown environments,where agents must actively sense the environment and share observations to improve situational awareness.This work presents an online decentralized framework that integrates temporal task coordination,active information gathering,and team-wise intermittent communication for multi-agent systems.The proposed method jointly optimizes the motion plan of each agent to satisfy local temporal logic tasks,selects informative sensing locations to reduce environmental uncertainty,and schedules team-wise communication to ensure timely information exchange under connectivity constraints.Extensive simulations in large-scale scenarios demonstrate the scalability and robustness of the framework in achieving reliable task completion,efficient uncertainty reduction,and resilient team communication.
