IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics, ( ISI ), Volume (40), No (4), Year (2010-8) , Pages (1145-1157)

Title : ( Optimization of Shared Autonomy Vehicle Control Architectures for Swarm Operations )

Authors: A.J. Sengstacken , D.A. DeLaurentis , Mohammad Reza Akbarzadeh Totonchi ,

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The need for greater capacity in automotive transportation (in the midst of constrained resources) and the convergence of key technologies from multiple domains may eventually produce the emergence of a “swarm” concept of operations. The swarm, which is a collection of vehicles traveling at high speeds and in close proximity, will require technology and management techniques to ensure safe, efficient, and reliable vehicle interactions. We propose a shared autonomy control approach, in which the strengths of both human drivers and machines are employed in concert for this management. Building from a fuzzy logic control implementation, optimal architectures for shared autonomy addressing differing classes of drivers (represented by the driver’s response time) are developed through a genetic-algorithm-based search for preferred fuzzy rules. Additionally, a form of “phase transition” from a safe to an unsafe swarm architecture as the amount of sensor capability is varied uncovers key insights on the required technology to enable successful shared autonomy for swarm operations.

Keywords

, Terms—Fuzzy logic, genetic algorithm (GA), road vehicle control, shared
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@article{paperid:1015355,
author = {A.J. Sengstacken and D.A. DeLaurentis and Akbarzadeh Totonchi, Mohammad Reza},
title = {Optimization of Shared Autonomy Vehicle Control Architectures for Swarm Operations},
journal = {IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics},
year = {2010},
volume = {40},
number = {4},
month = {August},
issn = {1083-4419},
pages = {1145--1157},
numpages = {12},
keywords = {Terms—Fuzzy logic; genetic algorithm (GA); road vehicle control; shared autonomy.},
}

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%0 Journal Article
%T Optimization of Shared Autonomy Vehicle Control Architectures for Swarm Operations
%A A.J. Sengstacken
%A D.A. DeLaurentis
%A Akbarzadeh Totonchi, Mohammad Reza
%J IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics
%@ 1083-4419
%D 2010

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