NDLI: Multi-objective optimization of sensor quality with efficient marine vehicle task execution

Content Provider	IEEE Xplore Digital Library
Author	Benjamin, M. Grund, M. Newman, P.
Copyright Year	2006
Description	Author affiliation: NAVSEA Div., MIT, Cambridge, MA (Benjamin, M.)
Abstract	This paper describes the in-field operation of two interacting autonomous marine vehicles to demonstrate the suitability of interval programming (IvP), a novel mathematical model for multiple-objective optimization. Broadly speaking, IvP coordinates competing control needs such as primary task execution that depends on a sufficient position estimate, and vehicle maneuvers that will improve that position estimate. In this work, vehicles cooperate to improve their position estimates using a sequence of vehicle-to-vehicle range estimates from acoustic modems. Coordinating primary task execution and sensor quality maintenance is a ubiquitous problem, especially in underwater marine vehicles. This work represents the first use of multiobjective optimization in a behavior-based architecture to address this problem
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	3226
Ending Page	3232
File Size	753164
Page Count	7
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642193
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Marine vehicles Remotely operated vehicles Modems Robot sensing systems Robot kinematics Robot programming Underwater acoustics Sea surface Global Positioning System Robot control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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