Robust mission planning for Autonomous Marine Vehicle fleets

Abstract

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Field trials of an energy‐aware mission planner implemented on an autonomous surface vehicle

“…In Thompson and Galeazzi (2020), an energy based planner was proposed to predict the energy cost for a team of vehicles to perform tasks. It then uses these predictions to schedule and allocate tasks to individual vehicles based on their available energy resources.…”

“…This paper continues to develop the energy-aware planner from Thompson and Galeazzi (2020) by implementing it onboard a prototype marine vehicle platform. Marine robots operate in a dynamic and uncertain environment that imparts non-linear and uncertain forces onto the vehicles.…”

“…The first stage (Section 2.2) computes the expected task sequence using the Monte Carlo sampling method in Thompson and Galeazzi (2020) a priori to vehicle deployment. The second stage (Section 2.2.1) occurs during deployment of the AMV, and is computed locally onboard the vehicle.…”

“…In Thompson and Galeazzi (2020), the multi-AMV mission planning problem was modelled as the TOP (Chao et al, 1996). The following definitions of a vehicle, task, and open and closed mission plans are presented for completeness:…”

“…Even though the energy for each transition and task was obtained as a random variable through Monte Carlo simulation, the planner in Thompson and Galeazzi (2020) only uses the expected values (Eq. (5)) and does not consider the full distribution of possible energy consumptions.…”