Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles

Lucas Martínez, Néstor and Martínez Ortega, José Fernán and Rodríguez Molina, Jesús and Zhai, Zhaoyu (2020). Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles. "Applied Sciences", v. 10 (n. 3); ISSN 2076-3417. https://doi.org/10.3390/app10030855.

Description

Title: Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles
Author/s:
  • Lucas Martínez, Néstor
  • Martínez Ortega, José Fernán
  • Rodríguez Molina, Jesús
  • Zhai, Zhaoyu
Item Type: Article
Título de Revista/Publicación: Applied Sciences
Date: 25 January 2020
ISSN: 2076-3417
Volume: 10
Subjects:
Freetext Keywords: cooperative robotics; autonomous underwater vehicles; automated mission planning; automated mission management; control station
Faculty: E.T.S.I. y Sistemas de Telecomunicación (UPM)
Department: Ingeniería Telemática y Electrónica
UPM's Research Group: Redes y Servicios de Próxima Generación GRyS
Creative Commons Licenses: Recognition

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Abstract

In recent years there has been an increasing interest in the use of autonomous underwater vehicles (AUVs) for ocean interventions. Typical operations imply the pre-loading of a pre-generated mission plan into the AUV before being launched. Once deployed, the AUV waits for a start command to begin the execution of the plan. An onboard mission manager is responsible for handling the events that may prevent the AUV from following the plan. This approach considers the management of the mission only at the vehicle level. However, the use of a mission-level manager in coordination with the onboard mission manager could improve the handling of exogenous events that cannot be handled fully at the vehicle level. Moreover, the use of vehicle virtualization by the mission-level manager can ease the use of older AUVs. In this paper, we propose a new mission-level manager to be run at a control station. The proposed mission manager, named Missions and Task Register and Reporter (MTRR), follows a decentralized hierarchical control pattern for self-adaptive systems, and provides a basic virtualization in regard to the AUV’s planning capabilities. The MTRR has been validated as part of the SWARMs European project. During the final trials we assessed its effectiveness and measured its performance. As a result, we have identified a strong correlation between the length of mission plan and the time required to start a mission ( ρs=0.79, n=45, p0.001 ). We have also identified a possible bottleneck when accessing the repositories for storing the information from the mission. Specifically, the average time for storing the received state vectors in the relational database represented only 18.50% of the average time required for doing so in the semantic repository.

Funding Projects

TypeCodeAcronymLeaderTitle
Horizon 2020662107SWARMsUniversidad Politécnica de MadridSmart and Networking UnderWAter Robots in Cooperation Meshes

More information

Item ID: 67435
DC Identifier: https://oa.upm.es/67435/
OAI Identifier: oai:oa.upm.es:67435
DOI: 10.3390/app10030855
Official URL: https://www.mdpi.com/2076-3417/10/3/855
Deposited by: Dr. Néstor Lucas Martinez
Deposited on: 22 Jun 2021 10:42
Last Modified: 22 Jun 2021 10:44
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