Chrpa, Lukáš, Pinto, Jose, Ribeiro, Manuel, Py, Frederic, Sousa, Joao and Rajan, Kanna (2015) On Mixed-Initative Planning and Control for Autonomous Underwater Vehicles. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), 28th September - 2nd October 2015, Hamburg, Germany.
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Supervision and control of Autonomous underwater vehicles (AUVs) has traditionally been focused on an operator determining a priori the sequence of waypoints of a single vehicle for a mission. As AUVs become more ubiquitous as a scientific tool, we envision the need for controlling multiple vehicles which would impose less cognitive burden on the operator with a more abstract form of human-in-the-loop control. Such mixed-initiative methods in goal-oriented commanding are new for the oceanographic domain and we describe the motivations and preliminary experiments with multiple vehicles operating simultaneously in the water, using a shore-based automated planner.
|Item Type:||Conference or Workshop Item (Paper)|
|Subjects:||Q Science > QA Mathematics > QA76 Computer software
V Naval Science > V Naval Science (General)
|Schools:||School of Computing and Engineering > High-Performance Intelligent Computing > Planning, Autonomy and Representation of Knowledge
School of Computing and Engineering > High-Performance Intelligent Computing > Planning, Autonomy and Representation of Knowledge
|Depositing User:||Lukas Chrpa|
|Date Deposited:||04 Nov 2015 14:37|
|Last Modified:||24 Aug 2016 09:16|
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