NDLI: Rendezvous planning for multiple autonomous underwater vehicles using a Markov decision process

Content Provider	IET Digital Library
Author	Yordanova, Veronika Griffiths, Hugh Hailes, Stephen
Abstract	Multiple autonomous underwater vehicles (AUVs) are a potential alternative to conventional large manned vessels for mine countermeasure (MCM) operations. Online mission planning for cooperative multi-AUV network often rely on predefined contingencies of reactive methods and does not deliver an optimal end-goal performance. Markov decision process is a decision-making framework that allows an optimal solution, taking into account future decision estimates, rather than having a myopic view. However, most real-world problems are too complex to be represented by this framework. The authors deal with the complexity problem by abstracting the MCM scenario with a reduced state and action space, yet retaining the information that defines the goal and constraints coming from the application. Another critical part of the model is the ability of the vehicles to communicate and enable a cooperative mission. They use the rendezvous point (RP) method. The RP method schedules meeting points for the vehicles throughout the mission. The authors’ model provides an optimal action selection solution for the multi-AUV MCM problem. The computation of the mission plan is performed in the order of minutes. This quick execution demonstrates the model is feasible for real-time applications.
Starting Page	1762
Ending Page	1769
Page Count	8
ISSN	17518784
Volume Number	11
e-ISSN	17518792
Issue Number	Issue 12, Dec (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-rsn/11/12
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2017.0098
Journal	IET Radar, Sonar & Navigation
Publisher	The Institution of Engineering and Technology
Publisher Date	2017-07-20
Access Restriction	Open
Rights License	Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/)
Subject Keyword	Autonomous Underwater Vehicle Cooperative MultiAUV Network Cooperative System Decision Theory Decision-making Framework Game Theory Large Manned Vessels Marine System Control Markov Decision Process Markov Processes Mine Countermeasure Operation Mobile Robots MultiAUV MCM Problem Multiple Autonomous Underwater Vehicle Online Mission Planning Optimal Action Selection Solution Path Planning Reactive Method Rendezvous Planning Rendezvous Point Method RP Method Spatial Variables Control Telerobotics
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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