On mixed-initiative planning and control for Autonomous underwater vehicles

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

doi:10.1109/IROS.2015.7353594

On mixed-initiative planning and control for Autonomous underwater vehicles

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

University of Porto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

18 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 language	English
Title of host publication	IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1685-1690
Number of pages	6
Volume	2015-December
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353594
Publication status	Published - 11 Dec 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Congress Center, Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 https://ewh.ieee.org/soc/ras/conf/financiallycosponsored/IROS/2015/iros2015.informatik.uni-hamburg.de/index.html https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=33365 (Link to Conference Website )

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated title	IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15
Internet address	https://ewh.ieee.org/soc/ras/conf/financiallycosponsored/IROS/2015/iros2015.informatik.uni-hamburg.de/index.html https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=33365 (Link to Conference Website )

Access to Document

10.1109/IROS.2015.7353594Licence: Other

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). Article 7353594 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353594

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title = "On mixed-initiative planning and control for Autonomous underwater vehicles",

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.",

author = "Lukas Chrpa and Jose Pinto and Ribeiro, \{Manuel A.\} and Frederic Py and Joao Sousa and Kanna Rajan",

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doi = "10.1109/IROS.2015.7353594",

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booktitle = "IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

url = "https://ewh.ieee.org/soc/ras/conf/financiallycosponsored/IROS/2015/iros2015.informatik.uni-hamburg.de/index.html, https://www.ieee.org/conferences\_events/conferences/conferencedetails/index.html?Conf\_ID=33365",

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Chrpa, L, Pinto, J, Ribeiro, MA, 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, 7353594, Institute of Electrical and Electronics Engineers Inc., pp. 1685-1690, IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353594

On mixed-initiative planning and control for Autonomous underwater vehicles. / Chrpa, Lukas; Pinto, Jose; Ribeiro, Manuel A. et al.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 1685-1690 7353594.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - On mixed-initiative planning and control for Autonomous underwater vehicles

AU - Chrpa, Lukas

AU - Pinto, Jose

AU - Ribeiro, Manuel A.

AU - Py, Frederic

AU - Sousa, Joao

AU - Rajan, Kanna

PY - 2015/12/11

Y1 - 2015/12/11

N2 - 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.

AB - 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.

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U2 - 10.1109/IROS.2015.7353594

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M3 - Conference contribution

AN - SCOPUS:84958164725

VL - 2015-December

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EP - 1690

BT - IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems 2015

Y2 - 28 September 2015 through 2 October 2015

ER -

Chrpa L, Pinto J, Ribeiro MA, Py F, Sousa J, Rajan K. 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. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1685-1690. 7353594 doi: 10.1109/IROS.2015.7353594

On mixed-initiative planning and control for Autonomous underwater vehicles

Abstract

Conference

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Machine Learning and Adaptation of Domain Models to Support Real-Time Planning in Autonomous Systems

Cite this

On mixed-initiative planning and control for Autonomous underwater vehicles

Abstract

Conference

Access to Document

Other files and links

Fingerprint

Projects

Machine Learning and Adaptation of Domain Models to Support Real-Time Planning in Autonomous Systems

Cite this