Generation of adaptive splitbelt treadmill walking by a biped robot using nonlinear oscillators with phase resetting

摘要

Because Autonomous Underwater Vehicles (AUVs) have limited perception and communication capabilities, designing efficient AUV flotillas is challenging. Existing solutions are often strongly related to (1) a specific kind of mission and (2) the nature of the considered AUVs. So, it is difficult to reuse these approaches when switching to another mission context. This paper proposes a generic multi-agent based layered architecture for designing and specifying AUV flotillas at a high level of abstraction, regardless of the AUVs characteristics and skills. To this end, an organizational model is used to ease and regulate interactions between heterogeneous AUVs and combined with a behavioral reactive approach for limiting communication.