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Soar Agents for Unmanned Air & Ground Vehicles

Presentation on the development of Soar agents for controlling unmanned air and ground vehicles. The project objectives, vehicle functionality, and simulation walkthrough slides will be discussed, followed by a demonstration run. The presentation will also cover the conflicting goals and simulink implementation of the project. The next steps and conclusions of the project will be presented as well.

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Soar Agents for Unmanned Air & Ground Vehicles

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  1. Blue Bear Systems ResearchSoar Agents for Unmanned Air & Ground Vehicles Dr Phill Smith 24th Soar Workshop 9th – 11th June 2004 Building 32, Twinwoods Business Park, Clapham, Bedfordshire MK41 6AE Tel: 01234 212001 Email: phill@bluebearsystems.com  www.bluebearsystems.com

  2. Presentation Overview • Outline of project objectives, and vehicle functionality • Walkthrough slides of a typical simulation • Demonstration run • Questions • Project funded by SAIC

  3. Objectives • Development of a Soar agent: • Exercised from the Simulink simulation environment • Controlling: • Up to 6 unmanned ground vehicles • Up to 4 UAV’s • Mission • Form up into a team • Routine patrol through an urban area • Dynamically re-route around blocked roads • Investigate areas of interest

  4. Conflicting Goals • The Unmanned Ground Vehicles: • Conduct a pre-planned patrol • Avoid blockages – dynamic route planning all done in Soar • Seal off an area of interest, and investigate • The Unmanned Air Vehicles: • Top priority is to provide the ground teams with comms-relay • May conduct surveillance over: • Road blockages • Areas of interest

  5. Simulink Implementation

  6. A Typical Run - 1

  7. A Typical Run - 2

  8. A Typical Run - 3

  9. A Typical Run - 4

  10. A Typical Run - 5

  11. A Typical Run - 6

  12. A Typical Run - 7

  13. A Typical Run - 8

  14. Project Next Steps • Exact detail to be determined • Moving towards hardware and experimentation • Will make use of our hardware developments • Simon Willcox – presentation no. 12

  15. Demo!

  16. Conclusions • Soar is well suited to: • Equipping vehicles with true autonomy • Not just high level automation…… • Needs to be structured as a multi-agent system • Lends itself to software teams, not just individuals • Ease of code re-use • Can be used in a vehicle systems engineering context • But…. • Software V&V issues • Particularly with learning systems • Certification issues for safety critical systems

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