Title: Artificial cognition for autonomous planar vehicles: modelling collision avoidance and collective manoeuvre

Authors: Vladimir Ivancevic, Eugene Aidman, Leong Yen

Addresses: Land Operations Division, Defence Science and Technology Organisation, PO Box 1500, 75 Labs, Edinburgh SA 5111, Australia. ' Land Operations Division, Defence Science and Technology Organisation, PO Box 1500, 75 Labs, Edinburgh SA 5111, Australia. ' Land Operations Division, Defence Science and Technology Organisation, PO Box 1500, 75 Labs, Edinburgh SA 5111, Australia

Abstract: A hierarchical cognitive robotics model for a team of unattended robotic ground vehicles (UGVs) is proposed. The first level rigorously defines conflict resolution for a couple of UGVs, using dynamical games on SE(2)-groups of plane motion. The second level extends it to n UGVs, using Nash-equilibrium approach. The third provides adaptive guidance for several groups of UGVs. The fourth, collective manoeuvre level, proposes a combination of an attractor neural model and a fuzzy-neural |supervisor|, to perform an adaptive path definition and waypoints selection, as well as chaos control. The fifth, cognitive level, performs overall mission planning/feedback control.

Keywords: hierarchical cognitive robotics; distributed robotics; collective manoeuvres; dynamical games; SE(2)-groups; non-cooperative Nash-equilibrium; adaptive Lie-derivative control; attractor neural models; fuzzy-neural supervisor; neural networks; autonomous planar vehicles; modelling; collision avoidance; unattended ground vehicles; robotic UGVs; mission planning; feedback control; artificial cognition; motion planning.

DOI: 10.1504/IJIDSS.2008.021972

International Journal of Intelligent Defence Support Systems, 2008 Vol.1 No.2, pp.150 - 175

Available online: 11 Dec 2008 *

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