On mixed-initiative planning and control for Autonomous underwater vehicles

TitleOn mixed-initiative planning and control for Autonomous underwater vehicles
Publication TypeConference Paper
Year of Publication2015
AuthorsChrpa, L, Pinto, J, Ribeiro, M, Py, F, de Sousa, JBorges, Rajan, K
Conference Name2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Date Publishedsep
PublisherIEEE
ISBN Number978-1-4799-9994-1
Abstract

— Supervision and control of Autonomous un-derwater vehicles (AUVs) has traditionally been focused on an operator determining a priori the sequence of waypoints of a single vehicle for a mission. As AUVs become more ubiquitous as a scientific tool, we envision the need for controlling multiple vehicles which would impose less cognitive burden on the operator with a more abstract form of human-in-the-loop control. Such mixed-initiative methods in goal-oriented commanding are new for the oceanographic domain and we describe the motivations and preliminary experiments with multiple vehicles operating simultaneously in the water, using a shore-based automated planner.

URLhttp://ieeexplore.ieee.org/document/7353594/
DOI10.1109/IROS.2015.7353594