The PANDORA project: A success story in AUV autonomy

Maurelli, Francesco; Carreras, Marc; Salví, Joaquím; Lane, David M.; Kyriakopoulos, Kostas J.; Karras, George C.; Fox, Maria; Long, Derek; Kormushev, Petar; Caldwell, Darwin G.

doi:10.1109/oceansap.2016.7485618

Cited by 21 publications

(11 citation statements)

References 6 publications

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“…ROSPlan [82] is a framework that, according to their authors, provide a collection of tools for AI planning in a ROS system. Although ROSPlan is designed for any robotics, it was originally developed for the PANDORA [83] project for its use with AUVs, and was validated in the experiments that were carried out in said project [84]. A summary of the categorization for the measured features is included in Table 11.…”

Section: Rosplanmentioning

confidence: 99%

Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

et al. 2020

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Almost every research project that focuses on the cooperation of autonomous robots for underwater operations designs their own architectures. As a result, most of these architectures are tightly coupled with the available robots/vehicles for their respective developments, and therefore the mission plan and management is done using an ad-hoc solution. Typically, this solution is tightly coupled to just one underwater autonomous vehicle (AUV), or a restricted set of them selected for the specific project. However, as the use of AUVs for underwater operations increases, there is the need to identify some commonalities and weaknesses of these architectures, specifically in relation to mission planning and management. In this paper, we review a selected number of architectures and frameworks that in one way or another make use of different approaches to mission planning and management. Most of the selected works were developed for underwater operations. Still, we have included some other architectures and frameworks from other domains that can be of interest for the survey. The explored works have been assessed using selected features related to mission planning and management, considering that underwater operations are performed in an uncertain and unreliable environment, and where unexpected events are not strange. Furthermore, we have identified and highlighted some potential challenges for the design and implementation of mission managers. This provides a reference point for the development of a mission manager component to be integrated in architectures for cooperative robotics in underwater operations, and it can serve for the same purposes in other domains of application.

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Section: Rosplanmentioning

confidence: 99%

Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

et al. 2020

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“…These systems can be used in a wide range of practical applications, such as shipwreck search and rescue, underwater structure maintenance, and biological sampling. UVMSs of large size and heavy weight have been developed and studied through several projects, such as ALIVE [2], SAUVIM [3],TRIDENT [4],TRITON [5], and PANDORA [6].…”

Section: Introductionmentioning

confidence: 99%

A Frequency-Limited Adaptive Controller for Underwater Vehicle-Manipulator Systems Under Large Wave Disturbances

Liu

2018

2018 13th World Congress on Intelligent Control and Automation (WCICA)

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“…Multiple recent projects have considered persistent autonomy for intervention-type marine vehicles. The FP7 project PANDORA investigated the problem of physical intervention between underwater vehicles and underwater panels [16], [20]. The TRITON project investigated docking and manipulation between underwater vehicles and stationary facilities [21], [22].…”

Section: Introductionmentioning

confidence: 99%

Cooperative Rendezvous and Docking for Underwater Robots using Model Predictive Control and Dual Decomposition

Nielsen

Johansen

Blanke

2018

2018 European Control Conference (ECC)

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The PANDORA project: A success story in AUV autonomy

Cited by 21 publications

References 6 publications

Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

A Frequency-Limited Adaptive Controller for Underwater Vehicle-Manipulator Systems Under Large Wave Disturbances

Cooperative Rendezvous and Docking for Underwater Robots using Model Predictive Control and Dual Decomposition

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