A probabilistic prediction-based replanning architecture for a UAV

Tim Wilkin, Ann Nicholson, Trevor Dix

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    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 languageEnglish
    Title of host publicationIFAC/EURON Symposium on Intelligent Autonomous Vehicles
    Pages938-943
    Number of pages6
    Volume37
    Edition8
    Publication statusPublished - 2004
    EventIFAC/EURON Symposium on Intelligent Autonomous Vehicles - Lisbon, Portugal
    Duration: 5 Jul 20047 Jul 2004

    Conference

    ConferenceIFAC/EURON Symposium on Intelligent Autonomous Vehicles
    Country/TerritoryPortugal
    CityLisbon
    Period5/07/047/07/04

    Keywords

    • Decision-theoretic
    • Planning and control architectures
    • Reasoning under uncertainty
    • Replanning

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