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.

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.

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