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Full-Text Articles in Robotics
Swarm Intelligence, A Blackboard Architecture And Local Decision Making For Spacecraft Command, Jeremy Straub
Swarm Intelligence, A Blackboard Architecture And Local Decision Making For Spacecraft Command, Jeremy Straub
Jeremy Straub
Control of a multi-spacecraft constellation is a topic of significant inquiry, at present. This paper presents and evaluates a command architecture for a multi-spacecraft mission. It combines swarm techniques with a decentralized / local decision making architecture (which uses a set of shared blackboards for coordination) and demonstrates the efficacy of this approach. Under this approach, the Blackboard software architecture is used to facilitate data sharing between craft as part of a resilient hierarchy and the swarm techniques are used to coordinate activity. The paper begins with an overview of prior work on the precursor command technologies and then presents …
The Use Of The Blackboard Architecture For A Decision Making System For The Control Of Craft With Various Actuator And Movement Capabilities, Jeremy Straub, Hassan Reza
The Use Of The Blackboard Architecture For A Decision Making System For The Control Of Craft With Various Actuator And Movement Capabilities, Jeremy Straub, Hassan Reza
Jeremy Straub
This paper provides an overview of an approach to the control of multiple craft with heterogeneous movement and actuation characteristics that is based on the Blackboard software architecture. An overview of the Blackboard architecture is provided. Then, the operational and mission requirements that dictate the need for autonomous control are characterized and the utility of the Blackboard architecture is for meeting these requirements is discussed. The performance of a best-path solver and naïve solver are compared. The results demonstrate that the best-path solver outperforms the naïve solver in the amount of time taken to generate a solution; however, the number …