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首页> 外文会议>Association for Unmanned Vehicle Systems International (AUVSI) unmanned systems 2001: the world's largest unmanned systems symposium and exhibition >A Paradigm for Command and Control of Intelligent Vehicles with Restricted Communications
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A Paradigm for Command and Control of Intelligent Vehicles with Restricted Communications

机译：通信受限智能车辆的指挥与控制范式

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摘要

In many domains, a key problem is the coordination of cooperative activities among multiplernunmanned vehicles with restricted communications. Restrictions include non-robustrncommunications (unreliable, intermittent, or long delay) and limitations on the bandwidthrnavailable for transmission of data. This restricted flow of data makes it difficult to maintainrnsituation assessment across the system and to control the vehicles from a central station.rnThis paper presents a paradigm for maintaining command and control of vehicles under thesernconditions. The paradigm calls for a model of intelligent behavior that is distributed across thernground station and the vehicles, with control exercised by sharing concepts, plans, and goals. Arndistributed situation assessment sufficient for cooperative planning can be maintained by sharingrnonly high level concepts, and control of the vehicle’s activities can be exercised from a centralrnstation by sharing only high level plans and goals, all without requiring continuous highrnbandwidth data links. As an example, the paper discusses the ICAV (Intelligent Control forrnAutomated Vehicles) project, an implementation of a distributed intelligent decision-aidingrnsoftware system for the command and control of multiple vehicles by a single operator. Therndiscussion includes qualitative and quantitative results from the ICAV manned evaluation.
机译：在许多领域中，一个关键问题是在通信受限的无人驾驶车辆之间协调合作活动。限制包括非健壮的通信（不可靠，间歇或长时间延迟）以及对可用于数据传输的带宽的限制。这种有限的数据流使维护整个系统的状态评估和从中央站控制车辆变得困难。本文提出了在这种情况下维持车辆指挥和控制的范例。该范式需要一种智能行为模型，该模型分布在地面站和车辆之间，并通过共享概念，计划和目标来进行控制。通过共享高级概念，可以维持足以进行合作计划的分布式情况评估，并且可以通过仅共享高级计划和目标而从中央站对车辆的活动进行控制，而所有这些都不需要连续的高带宽数据链路。例如，本文讨论了ICAV（自动驾驶汽车的智能控制）项目，这是一个分布式智能决策辅助软件系统的实现，该系统可以由一个操作员指挥和控制多辆汽车。讨论内容包括ICAV人工评估的定性和定量结果。

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