Fuzzy planning for task level mission management of autonomous vehicles

Any practical autonomous vehicle (AV) exists for a purpose, it is required to perform some set of tasks. The tasks represent components of any mission that the AV undertakes. A task level mission manager is responsible for ordering robot actions such that the robot can perform all its tasks and achieve its goals within a given time span. The field that addresses the above issues is known as `knowledge based planning´. Knowledge based planning is concerned with the problems of automatically generating missions or plans. The techniques support reasoning with the handling of constraints, goals and tasks. One can predict future states with only some degree of certainty. This paper describes an implementation of fuzzy representations for uncertainty in knowledge based planning