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 |
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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 |
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Country/Territory | Portugal |
City | Lisbon |
Period | 5/07/04 → 7/07/04 |
Keywords
- Decision-theoretic
- Planning and control architectures
- Reasoning under uncertainty
- Replanning