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A Blackboard-Style Decision-Making System For Multi-Tier Craft Control And Its Evaluation, Jeremy Straub, Hassan Reza
A Blackboard-Style Decision-Making System For Multi-Tier Craft Control And Its Evaluation, Jeremy Straub, Hassan Reza
Computer Science Faculty Publications
This article presents an approach for decision-making in support of the control of an autonomous system of multiple tiers of robots (e.g., satellite, aerial and ground) based on the Blackboard architectural style. Under the proposed approach, the system evaluates prospective approaches for goal satisfaction (identified by user selected final rules), identifies the lowest-cost solution and determines the best path to achieving the goal, via the analysis of the Blackboard rule and action set. Two different approaches to this rule and action path generation are discussed. This article presents the proposed Blackboard-style architecture for autonomous multi-tier control and describes its implementation. …