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Hierarchical Control and Performance Evaluation of Multi-Vehicle Autonomous Systems



Stephen B. Balakirsky, Christopher J. Scrapper Jr, Elena R. Messina


This paper will describe how the Mobility Open Architecture Tools and Simulation (MOAST) framework can facilitate performance evaluations of RCS compliant multi-vehicle autonomous systems. This framework provides an environment that allows for simulated and real architectural components to function seamlessly together. By providing repeatable environmental conditions, this framework allows for the development of individual components as well as component performance metrics. MOAST is composed of high-fidelity and low-fidelity simulation systems, a detailed model of real-world terrain, actual hardware components, a central knowledge repository, and architectural glue to tie all of the components together. This paper will describe the framework s components in detail and provide an example that illustrates how the framework can be utilized to develop and evaluate a single architectural component through the use of repeatable trials and experimentation that includes both virtual and real components functioning together.
Proceedings Title
Conference Dates
March 28-April 1, 2005
Conference Title
SPIE Defense and Security Symposium


architecture, hierachical, multi-agent, performance evaluation, robot, simulation


Balakirsky, S. , Scrapper, C. and Messina, E. (2005), Hierarchical Control and Performance Evaluation of Multi-Vehicle Autonomous Systems, Proceedings, [online], (Accessed July 22, 2024)


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Created May 4, 2005, Updated February 19, 2017