BEHAVIORAL COMPOSITION FOR HETEROGENEOUS SWARMS
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Authors
Reimer, Beau
Subjects
robotic swarm
composable behavior
Mission-based Architecture for Swarm Composability
MASC
Advanced Robotic Systems Engineering Laboratory
ARSENL
composable behavior
Mission-based Architecture for Swarm Composability
MASC
Advanced Robotic Systems Engineering Laboratory
ARSENL
Advisors
Davis, Duane T.
Giles, Kathleen B.
Date of Issue
2022-12
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
Research into swarm robotics has produced a robust library of swarm behaviors that excel at defined tasks such as flocking and area search, many of which have potential for application to a wide range of military problems. However, to be successfully applied to an operational environment, swarms must be flexible enough to achieve a wide array of specific objectives and usable enough to be configured and employed by lay operators. This research explored the use of the Mission-based Architecture for Swarm Composability (MASC) to develop mission-specific tactics as compositions of more general, reusable plays for use with the Advanced Robotic Systems Engineering Laboratory (ARSENL) swarm system. Three tactics were developed to conduct autonomous search of a geographic area and investigation of generated contacts of interest. The tactics were tested in live-flight and virtual environment experiments and compared to a preexisting monolithic behavior implementation completing the same task. Measures of performance were defined and observed that verified the effectiveness of solutions and confirmed the advantages that composition provides with respect to reusability and rapid development of increasingly complex behaviors.
Type
Thesis
Description
Series/Report No
Department
Computer Science (CS)
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NPS Report Number
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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.