Adaptation and Learning in Multi Robot TeamsAgency: DoD Army Research Office (2003 - 2006) |
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This research
focusses on the hardware and software architectures for the realization
of teams of intelligent mobile Autonomous Ground Vehicles. The
architecture should allow for the modular and hierarchical approach to
implement deliberative and
reactive behaviors in teams of autonomous vehicles. A hiearchical
architecture called Adaptation and Learning at All Levels is developed
that enables:
* intelligent
sensor selection and sensor fusion,
* fault detection and accommodation, * dynamic reconfigurability and high levels of reliability under all operating conditions, * hierarchical architecture for implementing hybrid controllers, * sophisticated algorithms for implementing adaptive behaviours, * remote operation and coordination with other controllers, and * provision for system evolution, and paths for the migration of capabilities. |
Sensors
for the Inspection and Monitoring of Gas Pipelines
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The overall
objective of the proposed research
is to develop cost-effective technology for inspection and monitoring
of gas
pipelines using sensor networks. The proposed development will focus on
energy
requirements, optimization, locomotion, and implementation of networks
for
collecting data by sensors for inspection and monitoring of gas
pipelines. The developed
system will be versatile in order to accommodate for various
applications and
it will provide a practical and economic means of collecting and
transferring various
types of useful measured data. This not only facilitates inspection and
integrity management of gas pipelines traveling over long distances in
difficult to reach areas, but also reduces the cost of compliance with
different federal and state regulations.
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