On mixed-initiative planning and control for Autonomous underwater vehicles

Lukas Chrpa, Jose Pinto, Manuel A. Ribeiro, Frederic Py, Joao Sousa, Kanna Rajan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Supervision and control of Autonomous underwater 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.

Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1685-1690
Number of pages6
Volume2015-December
ISBN (Electronic)9781479999941
DOIs
Publication statusPublished - 11 Dec 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Congress Center, Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015
https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=33365 (Link to Conference Website )

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2015
CountryGermany
CityHamburg
Period28/09/152/10/15
Internet address

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  • Cite this

    Chrpa, L., Pinto, J., Ribeiro, M. A., Py, F., Sousa, J., & Rajan, K. (2015). On mixed-initiative planning and control for Autonomous underwater vehicles. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 1685-1690). [7353594] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353594