Coupling Consensus Based Tasks with Subsumption Architecture for UAS Swarm Based Intelligence Surveillance and Reconnaissance Operations

2020 ◽  
Author(s):  
Prasanna Kolar
Keyword(s):  
Subsumption Architecture

BEHAVIOR-BASED ACTIVE VISION

1994 ◽  
Vol 08 (06) ◽  
pp. 1493-1526
Author(s):  
CLAUDIO S. PINHANEZ
Keyword(s):  
Vision System ◽  
Active Vision ◽  
Implementation Process ◽  
High Concentration ◽  
Subsumption Architecture ◽  
System A ◽  
Saccadic Movement ◽  
Building Process ◽  
Sensor Structure ◽  
Behavior Based

A vision system was built using a behavior-based model, the subsumption architecture. The so-called active eye moves the camera’s axis through the environment, detecting areas with high concentration of edges, with the help of a kind of saccadic movement. The design and implementation process is detailed in the article, paying particular attention to the fovea-like sensor structure which enables the active eye to efficiently use local information to control its movements. Numerical measures for the eye’s behavior were developed, and applied to evaluate the incremental building process and the effects of the saccadic movements on the whole system. A higher level behavior was also implemented, with the purpose of detecting long straight edges in the image, producing pictures similar to hand drawings. Robustness and efficiency problems are addressed at the end of the paper. The results seem to prove that interesting behaviors can be achieved using simple vision methods and algorithms, if their results are properly interconnected and timed.

Object-oriented design of the subsumption architecture

2001 ◽  
Vol 31 (9) ◽  
pp. 911-923 ◽  
Author(s):  
Greg Butler ◽  
Andrea Gantchev ◽  
Peter Grogono
Keyword(s):  
Object Oriented ◽  
Subsumption Architecture ◽  
Object Oriented Design

scholarly journals Preliminary Development of Subsumption Architecture Control for Automated Guided Vehicle

ROTASI ◽  
2019 ◽  
Vol 21 (4) ◽  
pp. 200
Author(s):  
Prianggada Indra Tanaya
Keyword(s):  
Operating System ◽  
Decision Making ◽  
Control System ◽  
Manufacturing System ◽  
Object Oriented ◽  
Control Architecture ◽  
Automated Guided Vehicle ◽  
Subsumption Architecture ◽  
Object Oriented Technology ◽  
System Input

Subsumption control architecture is an control architecture based on parallel system. Input of information of sensors is directly connected through modules in the control system, and further the decision making is connected to actuators. Automated Guided Vehicle or AGV is an automated component within integrated manufacturing system. In this article, this control architecture will be designed and implemented to an AGV. Commands are designed based on Object-Oriented technology. The commands are arranged in subsumption, where a command higher subsumed other command of its lower level. GPFO (Greater Priority First Out) technique is implemed for executing the commands by using multi-threading. Experimentation is performed to have the characteristics of commands being executed. This work introduce our effort to design an operating system for an AGV.

Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture)

2011 ◽  
Vol 23 (5) ◽  
pp. 684-700 ◽  
Author(s):  
Yoshihiko Kawazoe ◽  
◽  
Masaki Mitsuoka ◽  
Sho Masada
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Strong Nonlinearity ◽  
Autonomous Mobile Robot ◽  
Learning Program ◽  
Subsumption Architecture ◽  
The Real ◽  
Emotional Appeal ◽  
School Based ◽  
Autonomous Machine

There are presently no robots around us in our society if we define a robot as an autonomous machine working in the arena of offices, homes, disaster sites, etc., not in factories. Mechatronics, dynamics, and robotics involving humans are a world of strong nonlinearity. This paper investigates the approach to the emergence of the target behavior of an autonomous mobile robot by learning with Subsumption Architecture (SA) to break through the problems of the conventional robotics with the SMPA (Sense-Model-Plan-Act) framework in the real world. It has showed the way things are learned in the real world with SA and has been developed into a practical curriculum for education as an introduction to robotics that has an intellectual and emotional appeal.

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