Meta-control and Self-Awareness for the UX-1 Autonomous Underwater Robot

Corbato, Carlos Hernández; Milosevic, Zorana; Olivares, Carmen; Rodriguez, Gonzalo; Rossi, Cláudio

doi:10.1007/978-3-030-35990-4_33

Cited by 8 publications

(7 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Future works will include the development of a more sophisticated fault tolerance control: precisely in this line of research, an AI-based supervision system based on metacontrol and capable of self-reasoning and self reconfiguration of the submersible resources is currently under development [ 50 ]. Additional works will include the integration of horizontal and vertical exploration and its validation in a real mine.…”

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments

Milosevic

Fernández

Domínguez

et al. 2020

Sensors

Self Cite

View full text Add to dashboard Cite

In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines. For this purpose, it needs to navigate completely autonomously, as no communications are possible, in the 3D networks of tunnels of semistructured but unknown environments and gather various geoscientific data. First, the overall design concepts of the robot are presented. Then, the guidance system and its subsystems are explained. Finally, the system’s validation and integration with the rest of the UX-1 robot systems are presented. A series of experimental tests following the software-in-the-loop and the hardware-in-the-loop paradigms have been carried out, designed to simulate as closely as possible navigation in mine tunnel environments. The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments.

show abstract

Section: Discussionmentioning

confidence: 99%

“…It was demonstrated that this approach provides an effective way to achieve system reconfiguration for achieving predefined goals. The specifics and testing of such controller are however not addressed in this paper: we simply refer the reader to [ 50 ] for further details.…”

Section: Guidance Systemmentioning

confidence: 99%

Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments

Milosevic

Fernández

Domínguez

et al. 2020

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…To do so, specific rules design for the system must be combined with general TOMASys semantics. In recent works, the TOMASys framework has been implemented with an OWL ontology with SWRL rules [ 41 ]. In that article, the authors explore a theoretical solution to address adaptation to thruster’s status using the TOMASys metamodel.…”

Section: A Metacontrol Architecture Using Self-knowledgementioning

confidence: 99%

Functional Self-Awareness and Metacontrol for Underwater Robot Autonomy

Aguado

Milosevic

Hernández

et al. 2021

Sensors

Self Cite

View full text Add to dashboard Cite

Autonomous systems are expected to maintain a dependable operation without human intervention. They are intended to fulfill the mission for which they were deployed, properly handling the disturbances that may affect them. Underwater robots, such as the UX-1 mine explorer developed in the UNEXMIN project, are paradigmatic examples of this need. Underwater robots are affected by both external and internal disturbances that hamper their capability for autonomous operation. Long-term autonomy requires not only the capability of perceiving and properly acting in open environments but also a sufficient degree of robustness and resilience so as to maintain and recover the operational functionality of the system when disturbed by unexpected events. In this article, we analyze the operational conditions for autonomous underwater robots with a special emphasis on the UX-1 miner explorer. We then describe a knowledge-based self-awareness and metacontrol subsystem that enables the autonomous reconfiguration of the robot subsystems to keep mission-oriented capability. This resilience augmenting solution is based on the deep modeling of the functional architecture of the autonomous robot in combination with ontological reasoning to allow self-diagnosis and reconfiguration during operation. This mechanism can transparently use robot functional redundancy to ensure mission satisfaction, even in the presence of faults.

show abstract

“…For example, MROS [17] is a comprehensive approach for selfadaptive robots that is presented as a ROS-based structured model-based framework for the adaptation of robot control architectures at run-time. The adaptation logic of this approach uses a model formulated using OWL (Ontology Web Language) extended with a rule-based representation and quality attributes [18]. SkiROS [19] is a skill-based robot control platform on top of ROS in which skills that are selected dynamically using a planner based on PDDL.…”

Section: Related Workmentioning

confidence: 99%

Behavior coordination for self-adaptive robots using constraint-based configuration

Molina,

Santamaria

2021

Preprint

View full text Add to dashboard Cite

Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The architecture of a self-adaptive robot is complex because it should include automatic mechanisms to dynamically configure the elements that control robot behaviors. To facilitate the construction of this type of architectures, it is useful to have general solutions in the form of software tools that may be applicable to different robotic systems. This paper presents an original algorithm to dynamically configure the control architecture, which is applicable to the development of self-adaptive autonomous robots. This algorithm uses a constraint-based configuration approach to decide which basic robot behaviors should be activated in response to both reactive and deliberative events. The algorithm uses specific search heuristics and initialization procedures to achieve the performance required by robotic systems. The solution has been implemented as a software development tool called Behavior Coordinator CBC (Constraint-Based Configuration), which is based on ROS and open source, available to the general public. This tool has been successfully used for building multiple applications of autonomous aerial robots.

show abstract

Meta-control and Self-Awareness for the UX-1 Autonomous Underwater Robot

Cited by 8 publications

References 12 publications

Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments

Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments

Functional Self-Awareness and Metacontrol for Underwater Robot Autonomy

Behavior coordination for self-adaptive robots using constraint-based configuration

Contact Info

Product

Resources

About