Multi-agent strategy for marine applications via temporal planning

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

Abstract

This paper proposes a novel strategy for the implementation of complex missions in an underwater domain, based on the combination of a Goal Allocation (GA) strategy and Temporal Planning (TP). We define a new highly constrained planning domain, motivated by the autonomous supervision of an offshore wind farm scenario. The domain introduces actions which enhance the execution of long-term missions, support coordinated actions between surface and underwater vehicles and reduce the risks of failures. The ROSPlan framework, a realistic AUV, and Autonomous Surface Vehicle (ASV) simulators are integrated to implement effective missions, and plan execution is analysed using ROS and Gazebo. Experiments have shown a dynamic refuelling point method enhances long-term missions with small robot fleets. The approach also contributes to an increase in plan quality while relaxing complexity in the planning process, leading to an improvement in the planning time and makespan results for multi-agent problems.

Original languageEnglish
Title of host publication2019 IEEE Second International Conference on Artificial Intelligence and Knowledge Engineering (AIKE)
PublisherIEEE
Pages243-250
Number of pages8
ISBN (Electronic)9781728114880
DOIs
Publication statusPublished - 8 Aug 2019
Event2nd IEEE International Conference on Artificial Intelligence and Knowledge Engineering 2019 - Cagliari, Sardinia, Italy
Duration: 3 Jun 20195 Jun 2019

Conference

Conference2nd IEEE International Conference on Artificial Intelligence and Knowledge Engineering 2019
Abbreviated titleAIKE 2019
CountryItaly
CityCagliari, Sardinia
Period3/06/195/06/19

Keywords

  • Maritime domain
  • Multi-vehicle systems
  • Temporal-planning

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Information Systems and Management

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  • Cite this

    Carreno, Y., Petrick, R. P. A., & Petillot, Y. (2019). Multi-agent strategy for marine applications via temporal planning. In 2019 IEEE Second International Conference on Artificial Intelligence and Knowledge Engineering (AIKE) (pp. 243-250). IEEE. https://doi.org/10.1109/AIKE.2019.00049