Publications

Integrated Vehicle Health Management

  • Extracting Nuggets of Information from Mountains of Data

    This talk presents examples and the future challenges in processing mountains of data into nuggets of information for defence and security applications. BAE Systems' has a huge range and large number of complex platforms that are collecting massive amounts of data every single day. This talk will present examples of processing this data in different application areas from unmanned vehicles, where decisions must be made with seconds, to managing a fleet of a thousand aircraft based on terabytes of usage data.

    IET - Intelligent Signal Processing - Invited Speaker, December 2013

Unmanned Systems

  • A Study of Human-Agent Collaboration for Multi-UAV Task Allocation in Dynamic Environments

    Ramchurn, Sarvapali, Fischer, Joel, Ikuno, Yuki, Wu, Feng, Flann, Jack and Waldock, Antony (2015). We consider a setting where a team of humans oversee the coordination of multiple Unmanned Aerial Vehicles (UAVs) to perform a number of search tasks in dynamic environments that may cause the UAVs to drop out. Hence, we develop a set of multi-UAV supervisory control interfaces and a multi-agent coordination algorithm to support human decision making in this setting. To elucidate the resulting interactional issues, we compare manual and mixed-initiative task allocation in both static and dynamic environments in lab studies with 40 participants and observe that our mixed-initiative system results in lower workloads and better performance in re-planning tasks than one which only involves manual task allocation. Our analysis points to new insights into the way humans appropriate flexible autonomy.
    International Joint Conference on Artificial Intelligence

  • The Next Generation of Unmanned Ground Vehicles

    Over the last decade, the development of Unmanned Ground Vehicles (UGVs) has received significant attention through technology competitions, such as the DARPA Grand Challenges, where an unmanned vehicle autonomously navigated across a desert or through semi-urban roads. The next generation of UGVs will need to operate in uncontrolled environments where the terrain and infrastructure is uncertain and humans could be present. This paper discusses the challenges and current developments in the areas of sensing, localisation and planning to realise the next generation of UGVs.
    Measurement + Control Journal Vol 45/4 May 2012 pp117-121

  • Future Technologies for Unmanned Ground Vehicle

    Antony Waldock from the BAE Systems Advanced Technology Centre outlines the challenges facing the introduction of Unmanned Ground Vehicles onto the battlefield and highlights some industry solutions to the problem. RUSI Defence Systems. Issue: Oct 2010, Vol. 13, No. 2.

Multi-Objective Optimisation

Hernandez-Hernandez, L.; Tsourdos, A.; Hyo-Sang Shin; Waldock, A., Multi-Objective UAV routing," Unmanned Aircraft Systems (ICUAS), 2014 International Conference on , vol., no., pp.534,542, 27-30 May 2014

Morgan, David; Waldock, Antony; Corne, David, "MOPC/D: A new probability collectives algorithm for multiobjective optimisation," Computational Intelligence in Multi-Criteria Decision-Making (MCDM), 2013 IEEE Symposium on , vol., no., pp.17,24, 16-19 April 2013

Nominated for Best Paper.

Distributed Optimisation

  • Cooperative Control using the Max-Sum Algorithm

    Antony Waldock, David Nicholson and Alex Rogers In the Second International Workshop on Agent Technology for Sensor Networks (ATSN-08). A workshop at the 7th International Joint conference on Autonomous Agents and Multiagent systems (AAMAS-08). Tuesday 13th May 2008, Estoril, Portugal


Machine Learning

  • Learning to perform a Perched Landing on the Ground using Deep Reinforcement Learning
        Waldock, A., Greatwood, C. and Richardson, T. Journal of Intelligent & Robotic Systems. In publication.

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