Mixed-Initiative Planning, Replanning and Execution: From Concept to Field Testing using AUV Fleets
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Mixed-Initiative Planning, Replanning and Execution: From Concept to Field Testing using AUV Fleets
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Mixed-Initiative Planning, Replanning and Execution: From Concept to Field Testing using AUV Fleets
Popis výsledku anglicky
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.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Návaznosti výsledku
Projekt
<a href="/cs/project/GJ17-17125Y" target="_blank" >GJ17-17125Y: Balancování deliberativního a reaktivního chování inteligentních agentů</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Ostatní
Rok uplatnění
2017
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
IEEE International Conference on Robotics and Automation
ISBN
978-1-5386-2681-8
ISSN
2153-0858
e-ISSN
neuvedeno
Počet stran výsledku
6
Strana od-do
6825-6830
Název nakladatele
IEEE press
Místo vydání
New York, USA
Místo konání akce
Vancouver, Kanada
Datum konání akce
24. 9. 2017
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
—