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%2F68407700%3A21230%2F17%3A00315067" target="_blank" >RIV/68407700:21230/17:00315067 - 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

—

Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

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

978-1-5386-2682-5

ISSN

2153-0858

e-ISSN

—

Number of pages

6

Pages from-to

6825-6830

Publisher name

IEEE Press

Place of publication

New York

Event location

Vancouver

Event date

Sep 24, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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