The VIATIC 2 project aims to deepen and consolidate the promising results obtained in the initial VIATIC project. Work will focus on the implementation of a system for coordinating a group of vehicles (moving on land, sea or air) whose mission is to intercept a set of targets (stationary or mobile). The proposed coordination system consists of two major subsystems: a path planning module and an allocation/reallocation module. One of the strengths of the proposed solution is to deal with planning and allocation simultaneously, and have a communication link between the two sub-systems, usually designed and built separately.
The path planning algorithms developed in the initial project VIATIC are based on the Viability theory. An objective of this project is to consolidate the trajectory planner and test its capabilities:
• Study the robustness of trajectories obtained with respect to different types of uncertainty (localization errors and / or prediction on the target, problems of perception of the environment, etc..).
• Specify the limits of application of the trajectory planner in function of the kind of vehicles concerned;
• Identify the capabilities of real-time planning when the reallocation is needed due to available data on targets and robots
One of the objectives of this new study is to further explore the reallocation capacity in different cases. The only case of reallocation included in the simulations of the initial VIATIC project constitutes an abandonment of the mission for the robot if the target change its trajectory or state. We propose to study the integration into the system of coordination of a subsystem to manage the collisions avoidance during a mission. The questions which represent a new challenge are the following :
• Determining a protocol to drive the mission and to trigger evasive action in an emergency case
• Develop algorithms for mission planning
• When a robot must abandon its mission to an emergency maneuver, the coordination system must determine whether the target can be allocated to another robot available
• When the operation is complete, determine it's possible to recover the original mission or if another target can be allocated
In the military field, the algorithms developed can be applied to problems of interception of moving targets, as in the original ANR VIATIC project but with more complex systems, such as drones or missiles. These scenarios multi-missiles - multi-targets requiring the development of new guidance strategies and allocation of cooperative objectives that can be applied to ground attacks in urban areas.
Monsieur Rémi BOUTTEAU (IRSEEM)
The author of this summary is the project coordinator, who is responsible for the content of this summary. The ANR declines any responsibility as for its contents.
Help of the ANR 499,492 euros
Beginning and duration of the scientific project: December 2014 - 36 Months