AUV mission control via temporal planning

Michael Cashmore, Maria Fox, Tom Larkworthy, Derek Long, Daniele Magazzeni

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

29 Citations (Scopus)

Abstract

Underwater installations require regular inspection and maintenance. We are exploring the idea of performing these tasks using an autonomous underwater vehicle, achieving persistent autonomous behaviour in order to avoid the need for frequent human intervention. In this paper we consider one aspect of this problem, which is the construction of a suitable plan for a single inspection tour. In particular we generate a temporal plan that optimises the time taken to complete the inspection mission. We report on physical trials with the system at the Diver and ROV driver Training Center in Fort William, Scotland, discussing some of the lessons learned.
Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation ICRA2014
PublisherIEEE
Number of pages7
ISBN (Print)9781479936854
DOIs
Publication statusPublished - 29 Sep 2014
EventIEEE International Conference on Robotics and Automation ICRA2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Conference

ConferenceIEEE International Conference on Robotics and Automation ICRA2014
Abbreviated titleICRA2014
CountryChina
CityHong Kong
Period31/05/147/06/14

Keywords

  • planning
  • inspection
  • autonomous underwater vehicles
  • mobile robots
  • path planning
  • vehicles
  • navigation
  • AUV mission control

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