Underwater multi-robot persistent area coverage mission planning

Document Type

Conference Proceeding

Publication Date

11-28-2016

Abstract

© 2016 IEEE. The search mission for the missing MH370 airplane demonstrated that an autonomous underwater vehicle (AUV) managed by a crew is a reliable resource for critical missions. However, it highlighted the cost associated with human support in robotic operations. This paper presents a mission planning strategy that takes mission constraints such as number of available AUVs and their characteristics, as well as charging resources available (both energy-carrying agents and charging stations) to generate a set of efficient trajectories for AUVs and locations for either energy-carrying agents rendezvous or charging stations placement. The goal is to ensure efficient use of the resources and reduce operational costs.

Publication Title

OCEANS 2016 MTS/IEEE Monterey, OCE 2016

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