A framework for autonomy

Richard Hildebrant

doi:10.1117/12.686256

2 October 2006 A framework for autonomy

Richard Hildebrant

Proceedings Volume 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision; 63840H (2006) https://doi.org/10.1117/12.686256
Event: Optics East 2006, 2006, Boston, Massachusetts, United States

Abstract

The development of autonomous planning and control system software often results in a custom design concept and software specific to a particular control application. This paper describes a software framework for orchestrating the planning and execution of autonomous activities of an unmanned vehicle, or a group of cooperating vehicles, that can apply to a wide range of autonomy applications. The framework supports an arbitrary span of autonomous capability, ranging from simple low level tasking, requiring much human intervention, to higher level mission-oriented tasking, requiring much less. The approach integrates the four basic functions of all intelligent devises or agents (plan development, plan monitoring, plan diagnosing, and plan execution), with the mathematical discipline of hierarchical planning and control. The result is a domain-independent software framework, to which domain-dependent modules for planning, monitoring, and diagnosing are easily added. This framework for autonomy, combined with the requisite logic for vehicle control, can then be deployed to realize the desired level of autonomous vehicle operation.

Citation Download Citation

Richard Hildebrant "A framework for autonomy", Proc. SPIE 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision, 63840H (2 October 2006); https://doi.org/10.1117/12.686256

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available