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Conference Papers Year : 2011

Generic Architecture for Multi-AUV Cooperation Based on a Multi-Agent Reactive Organizational Approach

Abstract

Because Autonomous Underwater Vehicles (AUVs) have limited perception and communication capabilities, designing efficient AUV flotillas is challenging. Existing solutions are often strongly related to (1) a specific kind of mission and (2) the nature of the considered AUVs. So, it is difficult to reuse these approaches when switching to another mission context. This paper proposes a generic multi-agent based layered architecture for designing and specifying AUV flotillas at a high level of abstraction, regardless of the AUVs characteristics and skills. To this end, an organizational model is used to ease and regulate interactions between heterogeneous AUVs and combined with a behavioral reactive approach for limiting communication.
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Dates and versions

lirmm-00629421 , version 1 (05-10-2011)

Identifiers

  • HAL Id : lirmm-00629421 , version 1

Cite

Nicolas Carlési, Fabien Michel, Bruno Jouvencel, Jacques Ferber. Generic Architecture for Multi-AUV Cooperation Based on a Multi-Agent Reactive Organizational Approach. IROS: Intelligent Robots and Systems, Sep 2011, San Francisco, CA, United States. pp.5041-5047. ⟨lirmm-00629421⟩
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