DocumentCode
2467773
Title
Planning and world modeling for autonomous undersea vehicles
Author
Herman, Martin ; Hong, Tsoi-Hwrg ; Swetz, Scott ; Oskard, David ; Rosol, Mark
Author_Institution
NBS, Gaithersburg, MD, USA
fYear
1988
fDate
24-26 Aug 1988
Firstpage
370
Lastpage
375
Abstract
The planning and world modeling components of the MAUV (multiple autonomous undersea vehicles) architecture are described, with a focus on requirements for navigation of the MAUV vehicles. The goal of the MAUV project is to have multiple undersea vehicles exhibiting intelligent, autonomous, cooperative behavior. The MAUV control system is hierarchically structured and incorporates sensing, world modeling, planning, and execution. Also presented are some initial experimental results on lake tests run using code at the servo, primitive, and e-move levels
Keywords
knowledge based systems; marine systems; robots; transport computer control; cooperative behavior; e-move levels; intelligent control; lake tests; multiple autonomous undersea vehicles; planning; primitive level; servo level; world modeling; Actuators; Control systems; Databases; Intelligent robots; Intelligent vehicles; Mobile robots; NIST; Real time systems; Remotely operated vehicles; Transducers;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1988. Proceedings., IEEE International Symposium on
Conference_Location
Arlington, VA
ISSN
2158-9860
Print_ISBN
0-8186-2012-9
Type
conf
DOI
10.1109/ISIC.1988.65459
Filename
65459
Link To Document