Keywords
coordinated control, coordination variable, hazardous material, mobile robot
Abstract
Sponsorship: INEEL. This paper presents a coordinated control strategy for autonomous monitoring of a dynamically changing hazardous spill. The control strategy is a two level hierarchy that uses use coordination variables to communicate between the levels. The upper level is a resource allocator. The lower level consists of several "commanders" each with a possibly different objective. A physical description of the problem is given, as well as the methods of spill modeling and simulation. Tactics for locating, gravitating to and circling the spill are presented. Finally, both simulation and hardware results are given.
BYU ScholarsArchive Citation
Jones, Peter; Archibald, James K.; Beard, Randal; and Blake, Matthew, "Dynamic Spill Monitoring: A Coordinated Approach" (2004). Faculty Publications. 1321.
https://scholarsarchive.byu.edu/facpub/1321
Document Type
Report
Publication Date
2004-01-01
Permanent URL
http://hdl.lib.byu.edu/1877/34
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Electrical and Computer Engineering
Copyright Status
© 2004 Peter Jones, James K. Archibald, Randal Beard, and Matthew Blake
Copyright Use Information
http://lib.byu.edu/about/copyright/