Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

Lucas Martínez, Néstor and Martínez Ortega, José Fernán and Castillejo Parrilla, Pedro and Beltrán Martínez, Victoria (2020). Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations. "Applied Sciences", v. 10 (n. 3); ISSN 2076-3417. https://doi.org/10.3390/app10031086.

Description

Title: Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations
Author/s:
  • Lucas Martínez, Néstor
  • Martínez Ortega, José Fernán
  • Castillejo Parrilla, Pedro
  • Beltrán Martínez, Victoria
Item Type: Article
Título de Revista/Publicación: Applied Sciences
Date: 6 February 2020
ISSN: 2076-3417
Volume: 10
Subjects:
Freetext Keywords: mission management; mission plan; mission plan adaptation; cooperative robotics; system architectures; agent virtualization; mission plan dispatching and execution
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

Almost every research project that focuses on the cooperation of autonomous robots for underwater operations designs their own architectures. As a result, most of these architectures are tightly coupled with the available robots/vehicles for their respective developments, and therefore the mission plan and management is done using an ad-hoc solution. Typically, this solution is tightly coupled to just one underwater autonomous vehicle (AUV), or a restricted set of them selected for the specific project. However, as the use of AUVs for underwater operations increases, there is the need to identify some commonalities and weaknesses of these architectures, specifically in relation to mission planning and management. In this paper, we review a selected number of architectures and frameworks that in one way or another make use of different approaches to mission planning and management. Most of the selected works were developed for underwater operations. Still, we have included some other architectures and frameworks from other domains that can be of interest for the survey. The explored works have been assessed using selected features related to mission planning and management, considering that underwater operations are performed in an uncertain and unreliable environment, and where unexpected events are not strange. Furthermore, we have identified and highlighted some potential challenges for the design and implementation of mission managers. This provides a reference point for the development of a mission manager component to be integrated in architectures for cooperative robotics in underwater operations, and it can serve for the same purposes in other domains of application.

Funding Projects

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

More information

Item ID: 67437
DC Identifier: https://oa.upm.es/67437/
OAI Identifier: oai:oa.upm.es:67437
DOI: 10.3390/app10031086
Official URL: https://www.mdpi.com/2076-3417/10/3/1086
Deposited by: Dr. Néstor Lucas Martinez
Deposited on: 22 Jun 2021 10:44
Last Modified: 22 Jun 2021 10:44
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