System Description and Design Architecture for Multiple Autonomous Undersea Vehicles (Classic Reprint) - Hardcover
Synopsis
A pioneering look at intelligent cooperation in underwater robots that learn to work together in real time.
This volume outlines how a control system architecture for multiple autonomous undersea vehicles blends artificial intelligence, game theory, and modern control theory. It describes how teams of smart vehicles can compete or cooperate in dynamic, potentially hostile environments, using structured decision making, world modeling, and sensory fusion to stay synchronized and effective.
The work highlights a real-time, open-system architecture (RCS-3) designed for easy integration of software and sensors. It covers six layers of task decomposition, world modeling, and sensory processing, plus examples from field tests and demonstrations. The text also explains how egosphere representations help fuse data from diverse sensors, support navigation, and guide actions without overexposing the team to risk.- Real-time planning and value-driven reasoning for cooperative behavior
- Multi-sensor fusion and world modeling to track objects and plan moves
- Hierarchical control, with open interfaces for adding modules and sensors
- Concepts for cooperative search, mapping, and engagement scenarios, including two vehicles in lake tests
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