On mixed-initiative planning and control for Autonomous underwater vehicles

Lukáš Chrpa; José Pinto; Manuel A. Ribeiro; Frédéric Py; João Sousa; Kanna Rajan

IROS 2015poster33 citations

On mixed-initiative planning and control for Autonomous underwater vehicles

Lukáš Chrpa, José Pinto, Manuel A. Ribeiro, Frédéric Py, João Sousa, Kanna Rajan

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.

BibTeX

@inproceedings{iros2015_onmixedinitiativ,
  title = {On mixed-initiative planning and control for Autonomous underwater vehicles},
  author = {Lukáš Chrpa and José Pinto and Manuel A. Ribeiro and Frédéric Py and João Sousa and Kanna Rajan},
  booktitle = {IROS 2015},
  year = {2015}
}