NDLI: A heuristically constrained dynamic perception architecture for the Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work Packages Program

Content Provider	IEEE Xplore Digital Library
Author	Trimble, G.M.
Copyright Year	1994
Description	Author affiliation: Lockheed Missiles & Space Co. Inc., Sunnyvale, CA, USA (Trimble, G.M.)
Abstract	A unique mission control and vehicle management architecture which facilitates machine-based interaction with underwater ordnance has been derived for the Explosive Ordnance Disposal Autonomous Underwater Vehicle Robotic Work Packages Program (EODRWP). A number of key concepts have been integrated to provide for deliberative sequential and reactive mission plan execution. These include dynamic perception, which provides for active sensor management and vehicle position planning for enhanced classification, and heuristic constraint which incorporates knowledge of target and vehicle characteristics to provide a basis for interaction with the object of interest. This paper discusses the architectural framework which was developed in the first year of the program by enhancing a real-time expert system to implement a combined mission planning and constraint executor. Integration with a subsumptive layer which implements behaviors through a directed-task approach is described as are interactions with a vehicle-specific controller and sensors.
Starting Page	122
Ending Page	127
File Size	650421
Page Count	6
File Format	PDF
ISBN	0780318080
DOI	10.1109/AUV.1994.518616
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-07-19
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Remotely operated vehicles Underwater vehicles Sensor phenomena and characterization Mobile robots Waste management Explosives Robot sensing systems Packaging machines Knowledge management
Content Type	Text
Resource Type	Article

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