SAMON: communication, cooperation and learning of mobile autonomous robotic agents

Abstract

The Applied Research Laboratory Penn State University "Ocean SAmpling MObile network" (SAMON) Project is developing the simulation testbed for the oceanographic communities interactions through the Web interface and the simulation based design of Autonomous Ocean Sampling Program missions. In this paper, a current implementation of the SAMON is presented, and a formal model based on interactive automata is described. The basic model is extended by process algebra constructs to handle mobility, evolution and learning. To allow cooperation of heterogeneous vehicles a generic behavior message-passing language is presented.