Resource allocation and supervisory control architecture for intelligent behavior generation

Hitesh K. Shah; Vikas Bahl; Kevin L. Moore; Nicholas S. Flann; Jason Martin

doi:10.1117/12.487483

30 September 2003 Resource allocation and supervisory control architecture for intelligent behavior generation

Hitesh K. Shah, Vikas Bahl, Kevin L. Moore, Nicholas S. Flann, Jason Martin

Proceedings Volume 5083, Unmanned Ground Vehicle Technology V; (2003) https://doi.org/10.1117/12.487483
Event: AeroSense 2003, 2003, Orlando, Florida, United States

Abstract

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) was funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). As part of our research, we presented the use of a grammar-based approach to enabling intelligent behaviors in autonomous robotic vehicles. With the growth of the number of available resources on the robot, the variety of the generated behaviors and the need for parallel execution of multiple behaviors to achieve reaction also grew. As continuation of our past efforts, in this paper, we discuss the parallel execution of behaviors and the management of utilized resources. In our approach, available resources are wrapped with a layer (termed services) that synchronizes and serializes access to the underlying resources. The controlling agents (called behavior generating agents) generate behaviors to be executed via these services. The agents are prioritized and then, based on their priority and the availability of requested services, the Control Supervisor decides on a winner for the grant of access to services. Though the architecture is applicable to a variety of autonomous vehicles, we discuss its application on T4, a mid-sized autonomous vehicle developed for security applications.

Citation Download Citation

Hitesh K. Shah, Vikas Bahl, Kevin L. Moore, Nicholas S. Flann, and Jason Martin "Resource allocation and supervisory control architecture for intelligent behavior generation", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); https://doi.org/10.1117/12.487483

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