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The role of adaptive mission planning and control in persistent autonomous underwater vehicles presence


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Brito, MP, Bose, N, Lewis, Ron, Alexander, P, Griffiths, G and Ferguson, IJ 2012 , 'The role of adaptive mission planning and control in persistent autonomous underwater vehicles presence', paper presented at the 2012 IEEE/OES Autonomous Underwater Vehicles (AUV), 24-27 September 2012, National Oceanography Centre, Southampton.

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The Autonomous Underwater Vehicle (AUV)
community has for many years recognized the potential benefits
made by adapting mission planning on-the-fly. Over the years
there has been some degree of success in applying adaptive
mission planning to very specific problems. Examples of
applications include capabilities for a vehicle to search for, and
then modify its trajectory to follow, a feature such as a plume or
a thermocline, or to modify its trajectory to avoid an obstacle, or
to find and follow a feature such as a pipeline. Despite an evident
increase in the number of applications, the use of adaptive
mission planning is still in its infancy. There is no doubt that
adaptive mission planning will play a pivotal role in future AUV
persistent presence. So what is delaying this technology from
making the leap towards wider industry acceptance? This paper
reviews the literature in adaptive mission planning and uses a
failure analysis technique to identify key obstacles for the
integration of this technique in wider AUV applications. We use
our failure analysis to help devise recommendations for
mitigating these obstacles. The complexity of the mathematical
approaches used by adaptive techniques is one key obstacle.
Perhaps of more importance is that the AUV community is
increasingly requiring quantitative assessment of risk associated
with the use of AUVs. We propose that probability is the
appropriate measure for quantifying the risk of adaptive systems
and their uncertainty. The work here presented is a collective
endeavor of the Engineering Committee on Oceanic Resources
Specialist Panel on Underwater Vehicles.

Item Type: Conference or Workshop Item (Paper)
Authors/Creators:Brito, MP and Bose, N and Lewis, Ron and Alexander, P and Griffiths, G and Ferguson, IJ
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