Mixed-Initiative Planning, Replanning and Execution: From Concept to Field Testing using AUV Fleets

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F17%3A10369866" target="_blank" >RIV/00216208:11320/17:10369866 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/IROS.2017.8206602" target="_blank" >http://dx.doi.org/10.1109/IROS.2017.8206602</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2017.8206602" target="_blank" >10.1109/IROS.2017.8206602</a>

Result language
angličtina
Original language name
Mixed-Initiative Planning, Replanning and Execution: From Concept to Field Testing using AUV Fleets
Original language description
Mission planning and execution for autonomous vehicles is crucial for their effective and efficient operation during scientific exploration, or search and rescue missions, to mention a few. Automated Planning has shown to be a useful tool for ''high level'' mission planning, that is, allocating tasks to vehicles while following given constraints (e.g., energy, collision avoidance). In this paper, we focus on making mission planning flexible and robust. That is, a human mission coordinator can modify tasks during the mission execution, so the tasks have to be dynamically reallocated during the process. Moreover, we assume that communication might not be reliable when vehicles are ''outside'', i.e., performing the tasks, and thus we enforce vehicles to come back to their safe spots regularly. To address these requirements, we have developed two models, namely ''all tasks'' and ''one round'', and integrated them to the control software. We have evaluated our approach in a field experiment focused on a mine-hunting scenario.
Czech name
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Czech description
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Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
<a href="/en/project/GJ17-17125Y" target="_blank" >GJ17-17125Y: Balancing Deliberative and Reactive Behaviour of Intelligent Agents</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IEEE International Conference on Robotics and Automation
ISBN
978-1-5386-2681-8
ISSN
2153-0858
e-ISSN
neuvedeno
Number of pages
6
Pages from-to
6825-6830
Publisher name
IEEE press
Place of publication
New York, USA
Event location
Vancouver, Kanada
Event date
Sep 24, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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