Abstract
This paper proposes a novel approach for autonomous mission plan recovery for maintaining operability of unmanned underwater vehicles. It combines the benefits of knowledge-based ontology representation, autonomous partial ordering plan repair and robust mission execution. The approach uses the potential of ontology reasoning in order to orient the planning algorithms adapting the mission plan of the vehicle. It can handle uncertainty and action scheduling in order to maximize mission efficiency and minimise mission failures due to external unexpected factors. Its performance is presented in a set of simulated scenarios for different concepts of operations for the underwater domain. The paper concludes by showing the results of a trial demonstration carried out on a real underwater platform. The results of this paper are readily applicable to land and air robotics. ©2008 IEEE.
Original language | English |
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Title of host publication | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
Pages | 2593-2598 |
Number of pages | 6 |
DOIs | |
Publication status | Published - 2008 |
Event | 21st IEEE/RSJ International Conference on Intelligent Robots and Systems 2008 - Nice, France Duration: 22 Sept 2008 → 26 Sept 2008 |
Conference
Conference | 21st IEEE/RSJ International Conference on Intelligent Robots and Systems 2008 |
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Abbreviated title | IROS 2008 |
Country/Territory | France |
City | Nice |
Period | 22/09/08 → 26/09/08 |