Hierarchical Architecture for Coordinating Ground Vehicles in Unstructured Environments

Published

September 4, 2001

Author(s)

Alberto Lacaze

Abstract

This article presents a hierarchy of planners that can be used to coordinate multiple autonomous vehicles for different applications. The particular architecture reduces complexity and creates a constrained representation that in turn generates a wide variety of complex behaviors. A particular set of examples for the US Army's Demo III project will be presented.

Conference Dates

September 4, 2001

Conference Location

Mexico City, MX

Conference Title

2001 Performance Metrics for Intelligent Systems (PerMIS)Workshop, in association with IEEE CCA and ISIC

Pub Type

Conferences

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Keywords

Aerial Work Platforms, Aerial Work Platforms, Boomlifts, Boomlifts, complexity, Distributed Motion Control, Distributed Motion Control, emerging behaviors, Inexpensive Servoes, Inexpensive Servoes, Large Manipulators, Large Manipulators, multiresolutional hierarchical control, Paint Stripping, Paint Stripping, Planning, RCS

Citation

Lacaze, A. (2001), Hierarchical Architecture for Coordinating Ground Vehicles in Unstructured Environments, 2001 Performance Metrics for Intelligent Systems (PerMIS)Workshop, in association with IEEE CCA and ISIC, Mexico City, MX, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=821646 (Accessed November 4, 2025)