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This paper presents an intelligent decision algorithm and an on-board architecture designed to enable an autonomous underwater vehicle (AUV) to carry out a survey mission autonomously. The connotation of global model in decision algorithm is analyzed, including environment information, mission information and Self-states of AUV. The survey mission of multi-objective operation areas in an unsafe zone...
We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a future Titan Aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncerttain and changing...
This paper describes a general framework for the study of multiple vehicle, time-coordinated path following (TC-PF) control problems. An example is the situation where a group of vehicles is tasked to maneuver and arrive at pre-assigned final positions at the same time in a collision-free manner, while reducing some optimality criterion. The time of arrival is not fixed a priori, and the vehicles...
Path planning is basis for any autonomous underwater vehicle to implement completely cruising in subsea environment and path tracking is important technology as well, especially for multi-AUV (Autonomous underwater vehicle) cruising with a fleet formate. In this paper, algorithms path planning and path tracking are addressed for an open frame AUV. Fast Marching algorithm is applied to solve problems...
Today, due to the current state-of-the-art of embedded systems, underwater robotic vehicles are limited in both, their autonomy and capabilities. In order to increase their utility it is advantageous to run multiple vehicles at the same time whereby each vehicle serves as individual node in an underwater network. In this context a group of leading European vehicle manufacturers and researchers set...
We develop a robust method for planning an undersea search by unmanned vehicles; the goal of which is to find groups of objects that may be placed randomly or arranged in predefined patterns on the ocean floor. This approach revolves around the computation of target pattern priors that describe the underlying geometrical structure of the expected group of objects. These priors are updated based on...
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