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Intelligent Autonomy for Unmanned Surface and Underwater VehiclesAs the Autonomous Underwater Vehicle (AUV) and Autonomous Surface Vehicle (ASV) platforms mature in endurance and reliability, a natural evolution will occur towards longer, more remote autonomous missions. This evolution will require the development of key capabilities that allow these robotic systems to perform a high level of on-board decisionmaking, which would otherwise be performed by humanoperators. With more decision making capabilities, less a priori knowledge of the area of operations would be required, as these systems would be able to sense and adapt to changing environmental conditions, such as unknown topography, currents, obstructions, bays, harbors, islands, and river channels. Existing vehicle sensors would be dual-use; that is they would be utilized for the primary mission, which may be mapping or hydrographic reconnaissance; as well as for autonomous hazard avoidance, route planning, and bathymetric-based navigation. This paper describes a tightly integrated instantiation of an autonomous agent called CARACaS (Control Architecture for Robotic Agent Command and Sensing) developed at JPL (Jet Propulsion Laboratory) that was designed to address many of the issues for survivable ASV/AUV control and to provide adaptive mission capabilities. The results of some on-water tests with US Navy technology test platforms are also presented.
Document ID
20150006803
Document Type
Conference Paper
External Source(s)
Authors
Huntsberger, Terry (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Woodward, Gail (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
April 27, 2015
Publication Date
September 19, 2011
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Ground Support Systems and Facilities (Space)
Meeting Information
Oceans ''11 MTS/IEEE(Kona, HI)
Distribution Limits
Public
Copyright
Other
Keywords
environmental sensing
benthic habitat monitoring
onboard planning/re-planning
maritime autonomy