Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380722
M. Hildebrandt, C. Gaudig, L. Christensen, S. Natarajan, P. Paranhos, J. Albiez
The AUV DAGON was designed as a vehicle for algorithm evaluation and visual mapping. Since its initial launching in early 2010 two years of experiments and experience with the vehicle have passed. This paper will give an overview of the work with the AUV DAGON and highlight the scientific experiments conducted with it, concluding with a “lessons learned” section with important modifications and ideas for future vehicles.
{"title":"Two years of experiments with the AUV dagon - a versatile vehicle for high precision visual mapping and algorithm evaluation","authors":"M. Hildebrandt, C. Gaudig, L. Christensen, S. Natarajan, P. Paranhos, J. Albiez","doi":"10.1109/AUV.2012.6380722","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380722","url":null,"abstract":"The AUV DAGON was designed as a vehicle for algorithm evaluation and visual mapping. Since its initial launching in early 2010 two years of experiments and experience with the vehicle have passed. This paper will give an overview of the work with the AUV DAGON and highlight the scientific experiments conducted with it, concluding with a “lessons learned” section with important modifications and ideas for future vehicles.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130928563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380744
D. Brutzman, R. McGhee, D. Davis
The authors have been involved for several decades in the development and testing of both remotely controlled and autonomous subsea and ground vehicles. This experience has led us to view autonomous mobile robot control problems from both a bottom up and a top down perspective. Specifically, in our work, we have developed and tested a three-level software architecture called Rational Behavior Model (RBM), in which a top (strategic) level mission control finite state machine (FSM) orders the rational execution, at an intermediate (tactical) level, of vehicle behaviors in such a way as to carry out a specified mission. This implementation experience and these principles have led us to believe that human-like intelligence and judgment are not required to achieve a useful operational capability in autonomous mobile robots. Furthermore, we are convinced that a primitive but useful type of robot ethical behavior can also be attained, even in hazardous or military environments, without invoking concepts of artificial intelligence. To support our views, we present a software invention called a mission execution engine (MEE), implemented in the Prolog logic programming language. This MEE can be shown to represent an extension of the idea of a universal Turing machine and is therefore well grounded in existing mathematical automata theory. We further show how human readable mission orders, also written in Prolog, can specialize an MEE to any desired mission control FSM. An important aspect of our work is that mission orders can be tested exhaustively in human executable form before being translated into robot executable form. This provides the kind of transparency and accountability needed for after action review of missions, and possible legal proceedings in case of loss of life or property resulting from errors in mission orders.
{"title":"An implemented universal mission controller with run time ethics checking for autonomous unmanned vehicles—A UUV example","authors":"D. Brutzman, R. McGhee, D. Davis","doi":"10.1109/AUV.2012.6380744","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380744","url":null,"abstract":"The authors have been involved for several decades in the development and testing of both remotely controlled and autonomous subsea and ground vehicles. This experience has led us to view autonomous mobile robot control problems from both a bottom up and a top down perspective. Specifically, in our work, we have developed and tested a three-level software architecture called Rational Behavior Model (RBM), in which a top (strategic) level mission control finite state machine (FSM) orders the rational execution, at an intermediate (tactical) level, of vehicle behaviors in such a way as to carry out a specified mission. This implementation experience and these principles have led us to believe that human-like intelligence and judgment are not required to achieve a useful operational capability in autonomous mobile robots. Furthermore, we are convinced that a primitive but useful type of robot ethical behavior can also be attained, even in hazardous or military environments, without invoking concepts of artificial intelligence. To support our views, we present a software invention called a mission execution engine (MEE), implemented in the Prolog logic programming language. This MEE can be shown to represent an extension of the idea of a universal Turing machine and is therefore well grounded in existing mathematical automata theory. We further show how human readable mission orders, also written in Prolog, can specialize an MEE to any desired mission control FSM. An important aspect of our work is that mission orders can be tested exhaustively in human executable form before being translated into robot executable form. This provides the kind of transparency and accountability needed for after action review of missions, and possible legal proceedings in case of loss of life or property resulting from errors in mission orders.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122895357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380745
R. Rogers
The last decade has seen an exponential growth in the legal literature looking at the applicability of the law as it relates to the operational use of Autonomous Underwater Vehicles (AUV). The legal views postulated in this burgeoning body of literature are varied and can be very driven by scenario [e.g. requirement for navigational safety] or by class of AUV operator [defence/academic]. The legality can also be further complicated when some vehicle operators are planning to operate a mix of unmanned maritime vehicles in the air, at the sea surface and underwater. Legal opinions are now being sought when concepts such as `swarms', `networks' and `system of systems' are being muted in the context of AUV operations. A new dimension is that AUV operators are now looking at ethical issues surrounding some types of AUV usage where complete autonomy is being considered. The area of ethics of robotics is a distinct entity its own right and has associated with it a defined body of law. This paper seeks to try and provide an up to date understanding of how applicable and broad the legal regime relating to the operation of AUVs is and will suggest how this may change as the use of AUV's becomes even more commonplace.
{"title":"The legal regime governing AUV operations how far and how wide","authors":"R. Rogers","doi":"10.1109/AUV.2012.6380745","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380745","url":null,"abstract":"The last decade has seen an exponential growth in the legal literature looking at the applicability of the law as it relates to the operational use of Autonomous Underwater Vehicles (AUV). The legal views postulated in this burgeoning body of literature are varied and can be very driven by scenario [e.g. requirement for navigational safety] or by class of AUV operator [defence/academic]. The legality can also be further complicated when some vehicle operators are planning to operate a mix of unmanned maritime vehicles in the air, at the sea surface and underwater. Legal opinions are now being sought when concepts such as `swarms', `networks' and `system of systems' are being muted in the context of AUV operations. A new dimension is that AUV operators are now looking at ethical issues surrounding some types of AUV usage where complete autonomy is being considered. The area of ethics of robotics is a distinct entity its own right and has associated with it a defined body of law. This paper seeks to try and provide an up to date understanding of how applicable and broad the legal regime relating to the operation of AUVs is and will suggest how this may change as the use of AUV's becomes even more commonplace.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126534590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380750
S. Karabchevsky, B. Braginsky, Hugo Guterman
Autonomous Underwater Vehicles (AUVs) operate in unknown underwater environments and take decisions based on sensor readings, without any link with a human operator. It is critical for the AUVs to be able to avoid submerged obstacles and to adapt to changes in the ocean floor terrain. A typical mission for an AUV is to inspect a given area using a side scan. It is crucial to maintain a straight line course during the inspection in order to ensure proper side scan sonar operation. This limits the obstacle avoidance to only the vertical plane. In this study, a real-time obstacle detection and avoidance algorithm that uses vertical plane oriented forward looking sonar is outlined. Experimental results that demonstrate the performance of the proposed method are presented.
{"title":"AUV real-time acoustic vertical plane obstacle detection and avoidance","authors":"S. Karabchevsky, B. Braginsky, Hugo Guterman","doi":"10.1109/AUV.2012.6380750","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380750","url":null,"abstract":"Autonomous Underwater Vehicles (AUVs) operate in unknown underwater environments and take decisions based on sensor readings, without any link with a human operator. It is critical for the AUVs to be able to avoid submerged obstacles and to adapt to changes in the ocean floor terrain. A typical mission for an AUV is to inspect a given area using a side scan. It is crucial to maintain a straight line course during the inspection in order to ensure proper side scan sonar operation. This limits the obstacle avoidance to only the vertical plane. In this study, a real-time obstacle detection and avoidance algorithm that uses vertical plane oriented forward looking sonar is outlined. Experimental results that demonstrate the performance of the proposed method are presented.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128974962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380720
J. Busquets, J. Busquets, D. Tudela, F. Pérez, J. Busquets-Carbonell, A. Barbera, C. Rodríguez, A. García, J. Gilabert
The challenge of extending the autonomy in AUV deployments is one of the most important issues in oceanographic research today. The possibility of maintaining a team of AUV under deployment in a defined area of interest for a long period could provide an additional source of information [8]. All this data in combination with the measures provided by buoys and sea gliders used for slow motion and long range operations will be very valuable. A group of low cost AUV's in alternative automatic switching system navigation-charging operation, could allow a kind of continuous surveying operation. This work is the continuation of the ideas that some of the authors previously presented in the AUV 2010 conference at MBARI [8]. At this conference was proposed the great interest for researching oceanic processes on two areas near Cartagena, Spain: cape Tiñoso and the Mar Menor a shallow coastal lagoon. Both areas require a different research structure configuration because of their opposite characteristics. The Mar Menor is a shallow salty lagoon 20 miles long with 7 m of maximum depth and particular features. This lagoon seems to present a sort of oceanic behavior and can be compared with the major oceans but a minor scale. The second area considered is cape Tiñoso, a very deep area in the Mediterranean Sea where the presence of a self-break provides an interesting potential for the research of the effect of upwelling currents.
{"title":"Low-cost AUV based on Arduino open source microcontroller board for oceanographic research applications in a collaborative long term deployment missions and suitable for combining with an USV as autonomous automatic recharging platform","authors":"J. Busquets, J. Busquets, D. Tudela, F. Pérez, J. Busquets-Carbonell, A. Barbera, C. Rodríguez, A. García, J. Gilabert","doi":"10.1109/AUV.2012.6380720","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380720","url":null,"abstract":"The challenge of extending the autonomy in AUV deployments is one of the most important issues in oceanographic research today. The possibility of maintaining a team of AUV under deployment in a defined area of interest for a long period could provide an additional source of information [8]. All this data in combination with the measures provided by buoys and sea gliders used for slow motion and long range operations will be very valuable. A group of low cost AUV's in alternative automatic switching system navigation-charging operation, could allow a kind of continuous surveying operation. This work is the continuation of the ideas that some of the authors previously presented in the AUV 2010 conference at MBARI [8]. At this conference was proposed the great interest for researching oceanic processes on two areas near Cartagena, Spain: cape Tiñoso and the Mar Menor a shallow coastal lagoon. Both areas require a different research structure configuration because of their opposite characteristics. The Mar Menor is a shallow salty lagoon 20 miles long with 7 m of maximum depth and particular features. This lagoon seems to present a sort of oceanic behavior and can be compared with the major oceans but a minor scale. The second area considered is cape Tiñoso, a very deep area in the Mediterranean Sea where the presence of a self-break provides an interesting potential for the research of the effect of upwelling currents.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122058193","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380759
Zheng Zeng, A. Lammas, K. Sammut, F. He
This paper presents an optimal and efficient path planner based on an annular space decomposition (ASD) scheme for Autonomous Underwater Vehicles (AUVs) operating in turbulent, cluttered and uncertain environments. The proposed scheme decomposes the search space into annular regions, and allows placing one or more control points within each of this region. The trajectory is then generated from this set of control points by using Splines. This arrangement gives more freedom to the placement of the control points, while still restricting the search space to reduce computation time. The ASD scheme has been integrated with both the Genetic Algorithm and the Quantum-behaved Particle Swarm Optimization based path planner and tested to generate an optimal trajectory for an AUV travelling through a turbulent ocean field in the presence of obstacles located with positioning uncertainty. Simulation results show that the resulting approach is able to obtain a more optimized trajectory than the concentric circle constrained method, and has faster convergence speed and use less computation time than the unconstrained full space searching method. Monte Carlo simulations demonstrate the robustness and superiority of the proposed ASD scheme compared with the other two schemes.
{"title":"Optimal path planning based on annular space decomposition for AUVs operating in a variable environment","authors":"Zheng Zeng, A. Lammas, K. Sammut, F. He","doi":"10.1109/AUV.2012.6380759","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380759","url":null,"abstract":"This paper presents an optimal and efficient path planner based on an annular space decomposition (ASD) scheme for Autonomous Underwater Vehicles (AUVs) operating in turbulent, cluttered and uncertain environments. The proposed scheme decomposes the search space into annular regions, and allows placing one or more control points within each of this region. The trajectory is then generated from this set of control points by using Splines. This arrangement gives more freedom to the placement of the control points, while still restricting the search space to reduce computation time. The ASD scheme has been integrated with both the Genetic Algorithm and the Quantum-behaved Particle Swarm Optimization based path planner and tested to generate an optimal trajectory for an AUV travelling through a turbulent ocean field in the presence of obstacles located with positioning uncertainty. Simulation results show that the resulting approach is able to obtain a more optimized trajectory than the concentric circle constrained method, and has faster convergence speed and use less computation time than the unconstrained full space searching method. Monte Carlo simulations demonstrate the robustness and superiority of the proposed ASD scheme compared with the other two schemes.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123162089","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380737
M. Furlong, Dave Paxton, P. Stevenson, M. Pebody, S. McPhail, J. Perrett
This paper introduces the Autosub Long Range Autonomous Underwater Vehicle being developed at the National Oceanography Centre, Southampton. This propeller driven vehicle is designed to have a 6000m depth rating and a 6000km range. This is achieved by reducing the propulsion power by travelling slowly and hotel power by careful component selection and husbanding of resources. The challenges associated with net buoyancy compensation and low Reynolds number phenomena are outlined, and a passive compensation scheme is described. Early field trials are discussed, and the AUV's role in the upcoming FASTNEt science programme is outlined.
{"title":"Autosub Long Range: A long range deep diving AUV for ocean monitoring","authors":"M. Furlong, Dave Paxton, P. Stevenson, M. Pebody, S. McPhail, J. Perrett","doi":"10.1109/AUV.2012.6380737","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380737","url":null,"abstract":"This paper introduces the Autosub Long Range Autonomous Underwater Vehicle being developed at the National Oceanography Centre, Southampton. This propeller driven vehicle is designed to have a 6000m depth rating and a 6000km range. This is achieved by reducing the propulsion power by travelling slowly and hotel power by careful component selection and husbanding of resources. The challenges associated with net buoyancy compensation and low Reynolds number phenomena are outlined, and a passive compensation scheme is described. Early field trials are discussed, and the AUV's role in the upcoming FASTNEt science programme is outlined.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122383775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380732
L. Steenson, A. Phillips, S. Turnock, M. Furlong, E. Rogers
In this paper a depth and pitch controller for a hover-capable AUV is designed and implemented in simulation. The effect on controller performance of random Gaussian noise on the feedback signals is evaluated. It has been shown that very small levels of measurement noise will result in the controller performance degrading substantially and behaving in an erratic fashion. A polynomial type filter has been proposed and integrated into the model predictive control algorithm. This modification reduces the effect of the measurement noise substantially and improves controller performance.
{"title":"Effect of measurement noise on the performance of a depth and pitch controller using the model predictive control method","authors":"L. Steenson, A. Phillips, S. Turnock, M. Furlong, E. Rogers","doi":"10.1109/AUV.2012.6380732","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380732","url":null,"abstract":"In this paper a depth and pitch controller for a hover-capable AUV is designed and implemented in simulation. The effect on controller performance of random Gaussian noise on the feedback signals is evaluated. It has been shown that very small levels of measurement noise will result in the controller performance degrading substantially and behaving in an erratic fashion. A polynomial type filter has been proposed and integrated into the model predictive control algorithm. This modification reduces the effect of the measurement noise substantially and improves controller performance.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129299892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380730
K. McBryan, D. Akin
The ocean floor is one of the few remaining unexplored places on the planet. Underwater vehicles, both teleoperated and autonomous, have been built to take images of the ocean floor. The depth that a teleoperated vehicle can achieve is limited by its tether. Autonomous vehicles are able to study the deepest parts of the ocean without a complex tether system. These vehicles, while being great at mapping the ocean floor, are not able to autonomously retrieve samples. In order to retrieve samples the vehicle must: know what objects look like, correctly identify new instances of the target object, estimate the pose so the manipulator can grab it, and retrieve its coordinates in 3D space. Color filtering, shape context and the use of stereovision have been used to autonomously locate, identify, and estimate the pose of objects. Color filtering allows the image to be filtered so that only objects of similar color remain and extraneous information can be disregarded. Shape context matches the shape, as defined by the edge pixels, of each potential target to a known object. Shape context uses a costing function to determine if the potential target is a match to the known object. The costing function takes into account the amount of 'bending energy' it takes to make the shape of the potential target conform to that of the known object. This gives a metric of how well the match is between the potential target and a known object and is done for both the left and right cameras. Once objects have been identified in each image, calibration parameters can be used to retrieve the 3D position of the object. This allows a manipulator on an underwater vehicle to autonomously sample targets.
{"title":"Vision recognition using shape context for autonomous underwater sampling","authors":"K. McBryan, D. Akin","doi":"10.1109/AUV.2012.6380730","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380730","url":null,"abstract":"The ocean floor is one of the few remaining unexplored places on the planet. Underwater vehicles, both teleoperated and autonomous, have been built to take images of the ocean floor. The depth that a teleoperated vehicle can achieve is limited by its tether. Autonomous vehicles are able to study the deepest parts of the ocean without a complex tether system. These vehicles, while being great at mapping the ocean floor, are not able to autonomously retrieve samples. In order to retrieve samples the vehicle must: know what objects look like, correctly identify new instances of the target object, estimate the pose so the manipulator can grab it, and retrieve its coordinates in 3D space. Color filtering, shape context and the use of stereovision have been used to autonomously locate, identify, and estimate the pose of objects. Color filtering allows the image to be filtered so that only objects of similar color remain and extraneous information can be disregarded. Shape context matches the shape, as defined by the edge pixels, of each potential target to a known object. Shape context uses a costing function to determine if the potential target is a match to the known object. The costing function takes into account the amount of 'bending energy' it takes to make the shape of the potential target conform to that of the known object. This gives a metric of how well the match is between the potential target and a known object and is done for both the left and right cameras. Once objects have been identified in each image, calibration parameters can be used to retrieve the 3D position of the object. This allows a manipulator on an underwater vehicle to autonomously sample targets.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124349090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380747
C. Harris, R. Dearden
In recent years, the use of autonomous underwater vehicles has become increasingly popular for a wide variety of applications. As the cost of deploying a vehicle and the risk of loss or damage are often high, AUV missions typically consist of simple pre-scripted behaviours. Designed to minimise risk to the vehicle and its scientific cargo, these behaviours are inevitably overly-conservative, reserving a significant proportion of battery as a contingency should usage be higher than expected. Consequently, in the average case, the vehicle is not used to its full potential. As environments in which AUVs operate are dynamic and their effect on the vehicle is often uncertain, it is difficult to accurately predict the resource cost of a mission or individual task in advance. By modelling this uncertainty and allowing the vehicle to observe both the progress of the mission and the surrounding environment, the mission plan may be autonomously refined during operation. For example, in the event that resource usage, such as battery power, is observed to be lower than expected, the vehicle can schedule additional data collection tasks. Conversely, if the resource usage is higher than expected, the vehicle can remove lower priority tasks from the mission plan in order to increase the probability of successful recovery without the need to abort the mission. Such planning becomes increasingly beneficial when performing longer duration missions comprised of many tasks. This paper discusses the development of a new autonomous planning algorithm which models the uncertainty in the AUV domain and attempts to maximise the collection of scientific data without compromising the safety of the vehicle. It includes a technical overview, recent results and a discussion of the research in the context of potential applications, focusing on long-range and low-cost vehicles.
{"title":"Contingency planning for long-duration AUV missions","authors":"C. Harris, R. Dearden","doi":"10.1109/AUV.2012.6380747","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380747","url":null,"abstract":"In recent years, the use of autonomous underwater vehicles has become increasingly popular for a wide variety of applications. As the cost of deploying a vehicle and the risk of loss or damage are often high, AUV missions typically consist of simple pre-scripted behaviours. Designed to minimise risk to the vehicle and its scientific cargo, these behaviours are inevitably overly-conservative, reserving a significant proportion of battery as a contingency should usage be higher than expected. Consequently, in the average case, the vehicle is not used to its full potential. As environments in which AUVs operate are dynamic and their effect on the vehicle is often uncertain, it is difficult to accurately predict the resource cost of a mission or individual task in advance. By modelling this uncertainty and allowing the vehicle to observe both the progress of the mission and the surrounding environment, the mission plan may be autonomously refined during operation. For example, in the event that resource usage, such as battery power, is observed to be lower than expected, the vehicle can schedule additional data collection tasks. Conversely, if the resource usage is higher than expected, the vehicle can remove lower priority tasks from the mission plan in order to increase the probability of successful recovery without the need to abort the mission. Such planning becomes increasingly beneficial when performing longer duration missions comprised of many tasks. This paper discusses the development of a new autonomous planning algorithm which models the uncertainty in the AUV domain and attempts to maximise the collection of scientific data without compromising the safety of the vehicle. It includes a technical overview, recent results and a discussion of the research in the context of potential applications, focusing on long-range and low-cost vehicles.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123851738","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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