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AAAI
2008

Adaptive Control for Autonomous Underwater Vehicles

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Adaptive Control for Autonomous Underwater Vehicles
We describe a novel integration of Planning with Probabilistic State Estimation and Execution resulting in a unified representational and computational framework based on declarative models and constraint-based temporal plans. The work is motivated by the need to explore the oceans more cost-effectively through the use of Autonomous Underwater Vehicles (AUV), requiring them to be goal-directed, perceptive, adaptive and robust in the context of dynamic and uncertain conditions. The novelty of our approach is in integrating deliberation and reaction over different temporal and functional scopes within a single model, and in breaking new ground in oceanography by allowing for precise sampling within a feature of interest using an autonomous robot. The system is general-purpose and adaptable to other ocean going and terrestrial platforms.
Conor McGann, Frederic Py, Kanna Rajan, John Ryan,
Added 02 Oct 2010
Updated 02 Oct 2010
Type Conference
Year 2008
Where AAAI
Authors Conor McGann, Frederic Py, Kanna Rajan, John Ryan, Richard Henthorn
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