CARACaS multi-agent maritime autonomy for unmanned surface vehicles in the Swarm II harbor patrol demonstration

Wolf, Michael; Rahmani, Amir; Croix, Jean-Pierre de la; Woodward, Gail; Hook, Joshua Vander; Brown, David K.; Schaffer, Steve; Lim, Christopher; Bailey, Philip; Tepsuporn, Scott; Pomerantz, Marc; Nguyen, Van Long; Sorice, Cristina; Sandoval, Michael

doi:10.1117/12.2262067

Cited by 11 publications

(8 citation statements)

References 3 publications

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“…Behavior composition algorithms rely on composition of elementary behaviors (e.g. "push in a given direction" or "grasp") through prescribed switching rules; applications include collective transport and task allocation [232], [245]- [249].…”

Section: B Behavior Compositionmentioning

confidence: 99%

“…Each agent only performs the actions assigned to itself by the centralized algorithm, implicitly coordinating its actions with others. Sharedworld implementations of centralized algorithms have been used for multi-UAV tracking [438], planning for teams of autonomous maritime vehicles [249], [439], [440], goal seeking [374], [379], and spacecraft formation control [441].…”

Section: Sidebar: Communication Structurementioning

confidence: 99%

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Review of Multi-Agent Algorithms for Collective Behavior: a Structural Taxonomy

et al. 2018

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In this paper, we review multi-agent collective behavior algorithms in the literature and classify them according to their underlying mathematical structure. For each mathematical technique, we identify the multi-agent coordination tasks it can be applied to, and we analyze its scalability, bandwidth use, and demonstrated maturity. We highlight how versatile techniques such as artificial potential functions can be used for applications ranging from low-level position control to high-level coordination and task allocation, we discuss possible reasons for the slow adoption of complex distributed coordination algorithms in the field, and we highlight areas for further research and development.

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Section: B Behavior Compositionmentioning

confidence: 99%

Section: Sidebar: Communication Structurementioning

confidence: 99%

Review of Multi-Agent Algorithms for Collective Behavior: a Structural Taxonomy

et al. 2018

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“…Al, 1998) and SCOUT (Curcio et al, 2005) and other low cost small USVs developed specific to different applications (Thirunavukkarasu et al, 2017;Jo et al, 2019). Relevant to heterogenous multi-USV control, CARACaS (Control Architecture for Robotic Agent Command and Sensing) was developed at the NASA Jet Propulsion Laboratory as an autonomy architecture for heterogenous multi-agent systems and provided foundational software infrastructure, core executive functions, and several default robotic technology modules (Wolf et al, 2017). Although a lot of multi-USV path planning and obstacle avoidance research has been proposed in literature, very few has addressed applicability concerns of their proposed method on the wide variety of USVs currently available.…”

Section: Introductionmentioning

confidence: 99%

Maneuvering Ability-Based Weighted Potential Field Framework for Multi-USV Navigation, Guidance, and Control

Mina¹,

Singh²,

Min³

2020

mar technol soc j

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Numerous types of unmanned surface vehicles (USVs) are currently available for different applications with a wide spectrum of maneuvering capabilities. We present a generalized multi-USV navigation, guidance, and control framework adaptable to specific USV maneuvering response capabilities for dynamic obstacle avoidance. The proposed method integrates offline optimal path planning with a safety distance constrained A* algorithm, and an online extended adaptively weighted (EAW) artificial potential field-based path following approach with dynamic collision avoidance, based on USV maneuvering response times. The framework adaptively weighs inter-USV interaction, waypoint following, and collision avoidance based on USV maneuvering capabilities. The EAW system allows USVs with fast maneuvering abilities to react late and slow USVs to react sooner to oncoming moving obstacles gradually, with a carefully designed series of repulsive potential with diminishing weighting along the predicted path of detected moving obstacles, such that a smooth path is followed by the USV group with reduced cross-track error and reduced maneuvering effort. We emphasize the importance of such requirements in constrained and busy maritime environments such as narrow channels in busy harbors. Simulation results validate the proposed EAW artificial potential field framework for different sized multi-USV teams showing reduced cross-track error and maneuvering effort compared to the unweighted or traditional approach, for both slow- and fast-maneuvering multi-USV teams.

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“…Among the civil applications are environmental monitoring (Bayram et al, 2016;Hitz et al, 2017;Jung et al, 2017;Patel et al, 2019), water quality assessment (Ferri et al, 2014;Fornai et al, 2016;Hitz et al, 2012), inspection of wet nuclear storage facilities (Groves et al, 2019), bridge inspection (Murphy et al, 2011) and oceanographic research (Caccia et al, 2005). In the military domain, ASVs are used for patrolling shorelines or harbors (Wolf et al, 2017) and maritime interdiction (See, 2017). ASVs are also integrated with other types of autonomous vehicles, such as unmanned aerial vehicles (Nistico et al, 2017) and autonomous underwater vehicle (Melo and Matos, 2008).…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Autonomous Surface Vehicle for Inland Water

Bayram

2020

Iğdır Üniversitesi Fen Bilimleri Enstitüsü Dergisi

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This paper considers the design and implementation of a low-cost and modular autonomous surface robot for inland water. The design process consists of three stages: Mechanical and electro-mechanical design, electrical and electronic design and software design. The mechanical design is based on a two-hull construction because of its low risk of capsizing in rough water. Off-the-shelf hulls and electric trolling motor are preferred to reduce the cost. The robot is steered by a rudder controlled by a servo motor. A Robot Operating System based software running on an on-board computer is developed to achieve autonomy. The robot's status is monitored using the ground station software. The developed system was tested through a series of field experiments. The system is also compared with the existing designs. The robot's available deck space and modular software architecture enable users to easily integrate various sensors and mechanical parts for a wide range of applications such as environmental monitoring, surveillance and patrolling.

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CARACaS multi-agent maritime autonomy for unmanned surface vehicles in the Swarm II harbor patrol demonstration

Cited by 11 publications

References 3 publications

Review of Multi-Agent Algorithms for Collective Behavior: a Structural Taxonomy

Review of Multi-Agent Algorithms for Collective Behavior: a Structural Taxonomy

Maneuvering Ability-Based Weighted Potential Field Framework for Multi-USV Navigation, Guidance, and Control

Design and Implementation of Autonomous Surface Vehicle for Inland Water

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