A probabilistic prediction-based replanning architecture for a UAV

Tim Wilkin; Ann Nicholson; Trevor Dix

A probabilistic prediction-based replanning architecture for a UAV

Tim Wilkin, Ann Nicholson, Trevor Dix

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

Abstract

The deployment of intelligent autonomous vehicles for reconnaisance is now a practical reality, however many vehicles still rely heavily on remote human management of mission planning and replanning. This paper presents a new replanning paradigm - Probabilistic, Prediction-based Replanning - suitable for complex, uncertain, dynamic domains. An architecture to implement this replanning approach for the Aerosonde UAV is presented, along with results from successful simulation trials on cyclone exit missions.

Original language	English
Title of host publication	IFAC/EURON Symposium on Intelligent Autonomous Vehicles
Pages	938-943
Number of pages	6
Volume	37
Edition	8
Publication status	Published - 2004
Event	IFAC/EURON Symposium on Intelligent Autonomous Vehicles - Lisbon, Portugal Duration: 5 Jul 2004 → 7 Jul 2004

Conference

Conference	IFAC/EURON Symposium on Intelligent Autonomous Vehicles
Country/Territory	Portugal
City	Lisbon
Period	5/07/04 → 7/07/04

Keywords

Decision-theoretic
Planning and control architectures
Reasoning under uncertainty
Replanning

Cite this

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title = "A probabilistic prediction-based replanning architecture for a UAV",

abstract = "The deployment of intelligent autonomous vehicles for reconnaisance is now a practical reality, however many vehicles still rely heavily on remote human management of mission planning and replanning. This paper presents a new replanning paradigm - Probabilistic, Prediction-based Replanning - suitable for complex, uncertain, dynamic domains. An architecture to implement this replanning approach for the Aerosonde UAV is presented, along with results from successful simulation trials on cyclone exit missions.",

keywords = "Decision-theoretic, Planning and control architectures, Reasoning under uncertainty, Replanning",

author = "Tim Wilkin and Ann Nicholson and Trevor Dix",

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AU - Nicholson, Ann

AU - Dix, Trevor

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AB - The deployment of intelligent autonomous vehicles for reconnaisance is now a practical reality, however many vehicles still rely heavily on remote human management of mission planning and replanning. This paper presents a new replanning paradigm - Probabilistic, Prediction-based Replanning - suitable for complex, uncertain, dynamic domains. An architecture to implement this replanning approach for the Aerosonde UAV is presented, along with results from successful simulation trials on cyclone exit missions.

KW - Decision-theoretic

KW - Planning and control architectures

KW - Reasoning under uncertainty

KW - Replanning

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M3 - Conference Paper

AN - SCOPUS:85083284295

VL - 37

SP - 938

EP - 943

BT - IFAC/EURON Symposium on Intelligent Autonomous Vehicles

T2 - IFAC/EURON Symposium on Intelligent Autonomous Vehicles

Y2 - 5 July 2004 through 7 July 2004

ER -

A probabilistic prediction-based replanning architecture for a UAV

Abstract

Conference

Keywords

Other files and links

Cite this