Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications
This work presents and experimentally tests the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real time, in an autonomous fashion, and under constrained communications. Our framework relies on a three-layered approach: (1) an op...
| Main Authors: | , , , , , , , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/11/5/94 |
| _version_ | 1797469983367757824 |
|---|---|
| author | Jose Martinez-Lorenzo Jeff Hudack Yutao Jing Michael Shaham Zixuan Liang Abdullah Al Bashit Yushu Wu Weite Zhang Matthew Skopin Juan Heredia-Juesas Yuntao Ma Tristan Sweeney Nicolas Ares Ari Fox |
| author_facet | Jose Martinez-Lorenzo Jeff Hudack Yutao Jing Michael Shaham Zixuan Liang Abdullah Al Bashit Yushu Wu Weite Zhang Matthew Skopin Juan Heredia-Juesas Yuntao Ma Tristan Sweeney Nicolas Ares Ari Fox |
| author_sort | Jose Martinez-Lorenzo |
| collection | DOAJ |
| description | This work presents and experimentally tests the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real time, in an autonomous fashion, and under constrained communications. Our framework relies on a three-layered approach: (1) an operational layer, where fast temporal and narrow spatial decisions are made; (2) a tactical layer, where temporal and spatial decisions are made for a team of agents; and (3) a strategical layer, where slow temporal and wide spatial decisions are made for the team of agents. These three layers are coordinated by an ad hoc, software-defined communications network, which ensures sparse but timely delivery of messages amongst groups and teams of agents at each layer, even under constrained communications. Experimental results are presented for a team of 10 small unmanned aerial systems tasked with searching for and monitoring a person in an open area. At the operational layer, our use case presents an agent autonomously performing searching, detection, localization, classification, identification, tracking, and following of the person, while avoiding malicious collisions. At the tactical layer, our experimental use case presents the cooperative interaction of a group of multiple agents that enables the monitoring of the targeted person over wider spatial and temporal regions. At the strategic layer, our use case involves the detection of complex behaviors, i.e., the person being followed enters a car and runs away, or the person being followed exits the car and runs away, which require strategic responses to successfully accomplish the mission. |
| first_indexed | 2024-03-09T19:31:22Z |
| format | Article |
| id | doaj.art-11f035993992457d9c968b5394f405ad |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T19:31:22Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-11f035993992457d9c968b5394f405ad2023-11-24T02:23:31ZengMDPI AGRobotics2218-65812022-09-011159410.3390/robotics11050094Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained CommunicationsJose Martinez-Lorenzo0Jeff Hudack1Yutao Jing2Michael Shaham3Zixuan Liang4Abdullah Al Bashit5Yushu Wu6Weite Zhang7Matthew Skopin8Juan Heredia-Juesas9Yuntao Ma10Tristan Sweeney11Nicolas Ares12Ari Fox13College of Engineering, Northeastern University, Boston, MA 02115, USAUS Air Force Research Laboratory, Rome, NY 13441, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USACollege of Engineering, Northeastern University, Boston, MA 02115, USAThis work presents and experimentally tests the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real time, in an autonomous fashion, and under constrained communications. Our framework relies on a three-layered approach: (1) an operational layer, where fast temporal and narrow spatial decisions are made; (2) a tactical layer, where temporal and spatial decisions are made for a team of agents; and (3) a strategical layer, where slow temporal and wide spatial decisions are made for the team of agents. These three layers are coordinated by an ad hoc, software-defined communications network, which ensures sparse but timely delivery of messages amongst groups and teams of agents at each layer, even under constrained communications. Experimental results are presented for a team of 10 small unmanned aerial systems tasked with searching for and monitoring a person in an open area. At the operational layer, our use case presents an agent autonomously performing searching, detection, localization, classification, identification, tracking, and following of the person, while avoiding malicious collisions. At the tactical layer, our experimental use case presents the cooperative interaction of a group of multiple agents that enables the monitoring of the targeted person over wider spatial and temporal regions. At the strategic layer, our use case involves the detection of complex behaviors, i.e., the person being followed enters a car and runs away, or the person being followed exits the car and runs away, which require strategic responses to successfully accomplish the mission.https://www.mdpi.com/2218-6581/11/5/94SUAVmulti-layer architecturecontext awaredecentralizationcomplex behavior |
| spellingShingle | Jose Martinez-Lorenzo Jeff Hudack Yutao Jing Michael Shaham Zixuan Liang Abdullah Al Bashit Yushu Wu Weite Zhang Matthew Skopin Juan Heredia-Juesas Yuntao Ma Tristan Sweeney Nicolas Ares Ari Fox Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications Robotics SUAV multi-layer architecture context aware decentralization complex behavior |
| title | Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications |
| title_full | Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications |
| title_fullStr | Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications |
| title_full_unstemmed | Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications |
| title_short | Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications |
| title_sort | preliminary experimental results of context aware teams of multiple autonomous agents operating under constrained communications |
| topic | SUAV multi-layer architecture context aware decentralization complex behavior |
| url | https://www.mdpi.com/2218-6581/11/5/94 |
| work_keys_str_mv | AT josemartinezlorenzo preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT jeffhudack preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT yutaojing preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT michaelshaham preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT zixuanliang preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT abdullahalbashit preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT yushuwu preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT weitezhang preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT matthewskopin preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT juanherediajuesas preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT yuntaoma preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT tristansweeney preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT nicolasares preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications AT arifox preliminaryexperimentalresultsofcontextawareteamsofmultipleautonomousagentsoperatingunderconstrainedcommunications |