A concurrent, object-based implementation for the Tactical level of the Rational Behavior Model
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Authors
Thornton, Frederick Perry Boynton, Jr.
Subjects
Concurrency
Multitasking
Object-based
Object-oriented
Rational behavior model
Tactical model
Autonomous underwater vehicle
Multitasking
Object-based
Object-oriented
Rational behavior model
Tactical model
Autonomous underwater vehicle
Advisors
Kwak, Se-Hung
Date of Issue
1993-09
Date
September 1993
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The middle, or Tactical, level of the Rational Behavior Model (RBM) is the essential bridge linking the top and bottom levels of the model together. To insure an autonomous vehicle maintains control and thus exhibits rational behavior during such time-consuming tasks as search, homing, and route replanning, the Tactical level must be able to handle concurrency. Until now, this level has been implemented in only a limited way using an object-oriented language and sequential operations. The objective of this thesis is to construct an implementation model that represents the concurrency inherent in the Tactical level within the framework of the design model already developed. The method for building this implementation is to use the Ada task construct for concurrency to represent the objects of the design model and their communication with each other. This research creates a Tactical level implementation in Ada for the NPS Autonomous Underwater Vehicle (AUV) simulator that successfully executes a mission scenario involving transit, search, task, and return phases and the same mission scenario with route replanning.
Type
Thesis
Description
Series/Report No
Department
Department of Computer Science
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
133 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.