Increased vehicle autonomy, survivability and utility can provide an unprecedented impact on mission success and are
one of the most desirable improvements for modern autonomous vehicles. We propose a general architecture of
intelligent resource allocation, reconfigurable control and system restructuring for autonomous vehicles. The architecture
is based on fault-tolerant control and lifetime prediction principles, and it provides improved vehicle survivability,
extended service intervals, greater operational autonomy through lower rate of time-critical mission failures and lesser
dependence on supplies and maintenance. The architecture enables mission distribution, adaptation and execution
constrained on vehicle and payload faults and desirable lifetime. The proposed architecture will allow managing
missions more efficiently by weighing vehicle capabilities versus mission objectives and replacing the vehicle only when
it is necessary.
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