A deliberative architecture for AUV control

Autonomous Underwater Vehicles (AUVs) are an increasingly important tool for oceanographic research demonstrating their capabilities to sample the water column in depths far beyond what humans are capable of visiting, and doing so routinely and cost-effectively. However, control of these platforms t...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 1049 - 1054
Main Authors McGann, C., Py, F., Rajan, K., Thomas, H., Henthorn, R., McEwen, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Automatic control
Batteries
Mobile robots
Oceans
Robot kinematics
Robot sensing systems
Robotics and automation
Underwater vehicles
USA Councils
Vehicle dynamics
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543343

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Summary:Autonomous Underwater Vehicles (AUVs) are an increasingly important tool for oceanographic research demonstrating their capabilities to sample the water column in depths far beyond what humans are capable of visiting, and doing so routinely and cost-effectively. However, control of these platforms to date has relied on fixed sequences for execution of pre-planned actions limiting their effectiveness for measuring dynamic and episodic ocean phenomenon. In this paper we present an agent architecture developed to overcome this limitation through on-board planning using Constraint- based Reasoning. Preliminary versions of the architecture have been integrated and tested in simulation and at sea.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543343