Experimental Evaluation of Supervisory Switching Control for Unmanned Surface Vehicles

Supervisory Control of Unmanned Vehicles

A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles

A Metric Taxonomy for Supervisory Control of Unmanned Vehicles

Unmanned vehicle systems (UVSs), whether in the air, on the ground, on or under water, are inherently complex systems that rely on remote operator supervision to accomplish often dangerous and time-critical missions. Measuring the performance of a UVS is not a trivial task since the performance of the actual vehicle does not necessarily imply a performance level of the operator and vice-versa. ...

Enhancement of Robust Tracking Performance via Switching Supervisory Adaptive Control

When the process is highly uncertain, even linear minimum phase systems must sacrifice desirable feedback control benefits to avoid an excessive ‘cost of feedback’, while preserving the robust stability. In this paper, the problem of supervisory based switching Quantitative Feedback Theory (QFT) control is proposed for the control of highly uncertain plants. According to this strategy, the unce...

Intelligent Control for Unmanned Vehicles

The NIST robot vehicle, a HMMWV with sensors and computer controlled actuators, detects and avoids obstacles while it drives off road at speeds up to 35 km/h. During tests the vehicle drives through the back fields of NIST detecting large obstacles up to 50 m away. Obstacles are sensed using a 30¡x60¡ field of view laser range scanner. The planner computes smooth, obstacle free paths that follo...