Abstract
The work presented in this paper focuses on addressing vehicle hardware faults and changes in high level priorities during Mine Countermeasures (MCM) missions with Autonomous Underwater Vehicles (AUVs). The approach utilizes ontologies for representing knowledge about the vehicle and its operational environment and is based on the KnowRob system. Reasoning on the vehicle capabilities and consequently the actions it can execute is continuous and occurs in real time. Hardware faults are incorporated into the reasoning process as a means of driving adaptive planning and execution. The system utilizes the OPTIC Planning Domain Definition Language (PDDL) planner. Adaptive execution is prioritized over adaptive planning as mission planning can be very demanding in terms of computational resources. Changes in high level mission priorities are also addressed as part of the adaptive planning behaviour of the system. The main contribution of this paper is an ontological approach that drives an adaptive behaviour for increasing persistent autonomy of AUVs in unexpected situations. That is when hardware faults threaten to put the mission at risk and changes in high level mission priorities should be incorporated as part of decision making.
Original language | English |
---|---|
Title of host publication | OCEANS 2015 - Genova |
Subtitle of host publication | Discovering Sustainable Ocean Energy for a New World |
Publisher | IEEE |
ISBN (Print) | 9781479987368 |
DOIs | |
Publication status | Published - 2015 |
Event | MTS/IEEE OCEANS 2015 - Genova, Italy Duration: 18 May 2015 → 21 May 2015 |
Conference
Conference | MTS/IEEE OCEANS 2015 |
---|---|
Abbreviated title | OCEANS 2015 |
Country/Territory | Italy |
City | Genova |
Period | 18/05/15 → 21/05/15 |
ASJC Scopus subject areas
- Renewable Energy, Sustainability and the Environment
- Oceanography