Document Type

Article

Publication Date

4-15-2015

Publication Title

Journal of Experimental & Theoretical Artificial Intelligence

Volume

27

Abstract

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. The benefits and drawbacks of the Blackboard-style approach are analysed, its extrapolation to the control of multiple heterogeneous craft is presented and the tradeoffs between the two approaches to rule-path generation are assessed.

Issue

6

First Page

763

Last Page

777

DOI

10.1080/0952813X.2015.1020569

ISSN

1362-3079

Rights

This is an Accepted Manuscript of an article published by Taylor & Francis in the Journal of Experimental & Theoretical Artificial Intelligence on April 15, 2015, available online: http://www.tandfonline.com/10.1080/0952813X.2015.1020569.

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