Cart (Loading....) | Create Account
Close category search window
 

Adaptive mission plan diagnosis and repair for fault recovery in autonomous underwater vehicles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Patron, P. ; Ocean Syst. Lab., Heriot-Watt Univ., Edinburgh, UK ; Miguelanez, E. ; Petillot, Y.R. ; Lane, D.M.
more authors

This paper proposes a novel approach for autonomous mission diagnosis and repair for maintaining operability of unmanned underwater vehicles. It combines the benefits of knowledge-based ontology representation, autonomous partial ordering plan repair and robust mission execution. The approach uses the potential of ontology reasoning in order to orient the planning algorithms adapting the mission plan of the vehicle. It can handle uncertainty and action scheduling in order to maximize mission efficiency and minimise mission failures due to external or unexpected factors. Its performance is presented in a set of simulated scenarios. The paper concludes by showing the results of a trial demonstration. Observations of different environmental and internal parameters are simulated in a REMUS 100 AUV while performing a mission. These trigger a knowledge exchange between the diagnosis monitor agent and the adaptive mission planner embedded agent. Based on the observed data and the original knowledge, the experiment shows how the adaptive planner system is able to identify the gaps in the mission and adapt the platform's mission plan accordingly.

Published in:

OCEANS 2008

Date of Conference:

15-18 Sept. 2008

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.