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Design method of organizational structure for MAVs and UAVs heterogeneous team with adjustable autonomy

Journal of Systems Engineering and Electronics 2018年第2期29卷 286-295页

作者： CHEN Jun QIU Xunjie RONG Jia GAO Xiaoguang School of Electronics and Information Northwestern Polytechnical University Centre of Applied Informatics College of Engineering and Science Victoria University

The increasingly complex battlefield environment requests much closer connection in a team having both manned and unmanned aerial vehicles(MAVs and UAVs). This special heterogeneous team structure causes demands for effective organizational structure design solutions. Implementing adjustable autonomy in the organizational structure, the expected evaluation function is established based on the physical resource, intelligent resource, network efficiency, network vulnerability and task execution reliability. According to the above constraints, together with interaction latency, decision-making information processing capacity, and decision-making latency, we aim to find a preferential organizational structure. The proposed organizational structure includes cooperative relationships, supervisory control relationships, and decision-making authorization relationships. In addition,by considering the influence on the intelligent support capabilities and the task execution reliability created by adjustable autonomy, it helps to build the proposed organizational structure designed with certain degree of flexibility to deal with the potential changes in the unpredictable battlefield environment. Simulation is conducted to confirm our design to be valid. And the method is still valid under different battlefield environments and interventions.

关键词： organizational structure cooperative relationship supervisory control relationship decision-making authorization relationship adjustable autonomy

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Formulating layered adjustable autonomy for unmanned aerial vehicles

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International Journal of Intelligent Computing and Cybernetics 2017年第4期10卷 430-450页

作者： Salama A.Mostafa Mohd Sharifuddin Ahmad Aida Mustapha Mazin Abed Mohammed Faculty of Computer Science and Information Technology Universiti Tun Hussein Onn MalaysiaBatu PahatMalaysia College of Information Technology Universiti Tenaga NasionalKajangMalaysia Planning and Follow Up Department University of AnbarAnbarIraq

Purpose–The purpose of this paper is to propose a layered adjustable autonomy(LAA)as a dynamically adjustable autonomy model for a multi-agent *** is mainly used to efficiently manage humans’and agents’shared control of autonomous systems and maintain humans’global control over the ***/methodology/approach–The authors apply the LAA model in an agent-based autonomous unmanned aerial vehicle(UAV)*** UAV system implementation consists of two parts:software and *** software part represents the controller and the cognitive,and the hardware represents the computing machinery and the actuator of the UAV *** UAV system performs three experimental scenarios of dance,surveillance and search *** selected scenarios demonstrate different behaviors in order to create a suitable test plan and ensure significant ***–The results of the UAV system tests prove that segregating the autonomy of a system as multidimensional and adjustable layers enables humans and/or agents to perform actions at convenient autonomy ***,reducing the adjustable autonomy drawbacks of constraining the autonomy of the agents,increasing humans’workload and exposing the system to ***/value–The application of the LAA model in a UAV manifests the significance of implementing dynamic adjustable *** the autonomy within three phases of agents run cycle(taskselection,actions-selection and actions-execution)is an original idea that aims to direct agents’autonomy toward performance *** agents’abilities are well exploited when an incompetent agent switches with a more competent one.

关键词： Unmanned aerial vehicle Multi-agent system adjustable autonomy Autonomous agent

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