The research in the area of mobile unmanned systems has increasingly gained in importance during the last years. Different activities often aim to realise autonomy. However, there are different conceptions of the term 'autonomy'. This fact complicates the necessary interdisciplinary collaboration between specialists of different scientific fields.This dissertation thesis suggests a new understanding of "autonomy" based on the concept of the Bio-inspired Adaptive Autonomy. This principle defines autonomy as a state in a complete spectrum between (total) autonomous and remote controlled, thus all different existing concepts of autonomy can be integrated. Moreover, the concept enables the adaptation of the level of autonomy, using a software adapter.Thus, an autonomous system can use data or computing capacity from outside. Also, a human can be integrated into the mission execution of autonomous systems, as the human has to accept the juristic responsibility. It is clarified that realisations in this scientific field should not tend to reach the highest possible level of autonomy, but the optimal one.The novel autonomy concept is very efficient in the realisation of cooperating teams of unmanned mobile systems. There is a clear antilogy between the goals 'autonomy' and 'cooperation'. By lowering the single levels of autonomy, it is possible to realise team behaviour in different ways.This thesis describes different realisations of unmanned vehicle teams and interprets them in the framework of the new developed autonomy concept. Different scientific methods are employed and compared. A novel hybrid approach with analytical, rule- and state graph-based realisations is described and compared with alternative stochastic-based realisations, which are stated as reference to further activities by the author. Also a complete analytic approach which was taken from literature is realised and compared. This work gives a judgemental comparison between the different realisations with special regard to practicable applications.Different simulations are employed to exemplify the statements made. They are also used to clarify the comparisons between the different team strategies. The thesis concludes with an outlook on different possible applications which are currently under development and used by the author to transfer the new autonomy concept into praxis.


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    Titel :

    Ein Beitrag zur Steuerung von mobilen Systemen auf Grundlage der Bioorientierten Adaptiven Autonomie


    Beteiligte:
    Glotzbach, T. (Autor:in)

    Erscheinungsdatum :

    2010



    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Deutsch






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