Abstract
This work addresses the issue of the modeling of a system of systems of autonomous road and aerial vehicles, allowing making a resilient navigation inside Container Terminals (CT). The road vehicles are characterized by Intelligent Autonomous Vehicles (IAV), able to transport containers inside the terminal based on Global Signal Positioning (GPS). The Unmanned Aerial Vehicles (UAV) are present in the CT, emulating a redundant positioning data of the IAV, where its navigational signals are disturbed inside corridor of stacked containers inside the CT. In this framework, we propose a high-level Petri net model, allowing to control the IAV movement while reconstructing the positioning data of the IAV, due to the communication between the IAV and the UAV. Studied as an SoS, this work addresses the IAV reconfiguration in resilient condition, as a mode management problem. The aspects of mode activation/deactivation, starting state and handling of resource states common to multiple operating modes are taken into account in the proposed model.
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