Cognitive control architecture for autonomous marine vehicles

Carlos C. Insaurralde, Joel J. Cartwright, Yvan R. Petillot

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

The use of Remotely Operated Vehicles (ROVs) is ultimately limited by economic support costs, and the presence and skills of the human operator. Autonomous surface and underwater vehicles have the potential to operate with greatly reduced overhead costs and level of operator intervention. This paper proposes an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to carry out autonomous underwater intervention missions. The architectural foundation to achieve the ICA lays on the flexibility of service-oriented computing. A knowledge-based database captures the operator skills, platform capabilities and, changes in the environment. The information captured enables reasoning agents to plan missions based on the current situation. This paper also presents a marine vehicle platform for the ICA evaluation, simulation results of a mission, and future research directions.

Original languageEnglish
Title of host publication2012 IEEE INTERNATIONAL SYSTEMS CONFERENCE (SYSCON)
Place of PublicationNEW YORK
PublisherIEEE
Pages117-124
Number of pages8
ISBN (Print)978-1-4673-0749-9
DOIs
Publication statusPublished - 2012
Event6th IEEE International Systems Conference - Vancouver, Canada
Duration: 19 Mar 201222 Mar 2012

Conference

Conference6th IEEE International Systems Conference
Abbreviated titleSYS CON
CountryCanada
Period19/03/1222/03/12

Keywords

  • Robotics
  • autonomous systems
  • marine vehicles
  • cognitive control architectures

Cite this

Insaurralde, C. C., Cartwright, J. J., & Petillot, Y. R. (2012). Cognitive control architecture for autonomous marine vehicles. In 2012 IEEE INTERNATIONAL SYSTEMS CONFERENCE (SYSCON) (pp. 117-124). IEEE. https://doi.org/10.1109/SysCon.2012.6189542