State-of-the-Art in UVs’ Autonomous Mission Planning and Task Managing Approach

MahmoudZadeh, Somaiyeh; Powers, David M. W.; Zadeh, Reza Bairam

doi:10.1007/978-981-13-2245-7_2

Cited by 5 publications

(5 citation statements)

References 37 publications

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“…Indeed, in [6] it is specified that, for the automation part, a pre-programmed mission shall be stored previously in the AUV and that the execution shall begin after a starting order. In other published surveys exploring mission planning and management systems for AUVs, we have found the same pattern [37,38].…”

Section: Related Worksupporting

confidence: 79%

Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles

Martínez¹,

Martínez-Ortega²,

Rodríguez‐Molina³

et al. 2020

Applied Sciences

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In recent years there has been an increasing interest in the use of autonomous underwater vehicles (AUVs) for ocean interventions. Typical operations imply the pre-loading of a pre-generated mission plan into the AUV before being launched. Once deployed, the AUV waits for a start command to begin the execution of the plan. An onboard mission manager is responsible for handling the events that may prevent the AUV from following the plan. This approach considers the management of the mission only at the vehicle level. However, the use of a mission-level manager in coordination with the onboard mission manager could improve the handling of exogenous events that cannot be handled fully at the vehicle level. Moreover, the use of vehicle virtualization by the mission-level manager can ease the use of older AUVs. In this paper, we propose a new mission-level manager to be run at a control station. The proposed mission manager, named Missions and Task Register and Reporter (MTRR), follows a decentralized hierarchical control pattern for self-adaptive systems, and provides a basic virtualization in regard to the AUV’s planning capabilities. The MTRR has been validated as part of the SWARMs European project. During the final trials we assessed its effectiveness and measured its performance. As a result, we have identified a strong correlation between the length of mission plan and the time required to start a mission ( ρ s = 0.79 , n = 45 , p 0.001 ). We have also identified a possible bottleneck when accessing the repositories for storing the information from the mission. Specifically, the average time for storing the received state vectors in the relational database represented only 18.50% of the average time required for doing so in the semantic repository.

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Section: Related Worksupporting

confidence: 79%

Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles

Martínez¹,

Martínez-Ortega²,

Rodríguez‐Molina³

et al. 2020

Applied Sciences

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“…As preparing such contingency plans in advance can require significant additional efforts, many approaches rely instead on a replanning process [48]. Once such a process is triggered, the execution of the current plan is suspended or reset, and a new plan is generated on the basis of the changed information now available to the planner.…”

Section: What About Replanning?mentioning

confidence: 99%

Hierarchical Plan Execution for Cooperative UxV Missions

2023

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A generic reasoning approach for autonomous unmanned vehicle (UxV) mission execution is presented. The system distinguishes (a) mission planning and (b) mission execution, treating these as separate but closely interdependent stages. The context of the work is that of tactical military operations, and the focus of the current (simulated) application is on ground-based platforms. The reference behavior for the UxVs is defined by military doctrine. Two operational requirements are met: (1) Mission plan and execution must be constructed such that they can be understood and evaluated (prior to giving the go ahead for the platforms to commence the mission) by a decision maker. (2) Mission plan and execution must account for both observations/information gathered during execution (for example, the spotting of enemy units) and for foreseeable changes in the internal and external situation (e.g., a sub-system failure, or changes in terrain or weather).

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“…Optimizing the control system of the vehicle is crucial because it reduces the time and the cost of the mission. 11 Similarly, the allocation of the actuators on the vehicle must be in accurate position that leads to the precise movement and efficient usage of the energy resources. 12 The control systems with good performance under these constraints attain a high degree of autonomy.…”

Section: Introductionmentioning

confidence: 99%

A review of different designs and control models of remotely operated underwater vehicle

Wang

Ali

2020

Measurement and Control

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This article reviews remotely operated underwater vehicle (ROUV) and its different types focusing on the control systems. This study offers a brief introduction of unmanned underwater vehicle (UUV) together with ROUV. Underwater robots are designed to work as an alternative to humans because of a difficult and hazardous underwater environment. The applications and demand of marine robots are increasing with the passage of time. There are several research articles and publications available on these topics but, a complete review of old and recent research about this technology is still hard to find. This article also assesses some recently published research papers on underwater systems. It presents the comparison of different control systems and designs of underwater vehicles. There have been major developments in marine technology depending on the needs, applications and cost of different missions. Scientists design many remotely operated vehicles based on the educational or industrial purposes. This article is presented in order to help and assist the future researchers as a massive review of the field of remotely operated underwater vehicles and their possible future developments are presented.

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State-of-the-Art in UVs’ Autonomous Mission Planning and Task Managing Approach

Cited by 5 publications

References 37 publications

Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles

Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles

Hierarchical Plan Execution for Cooperative UxV Missions

A review of different designs and control models of remotely operated underwater vehicle

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