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Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles
Article

Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations

Departamento de Ingeniería Telemática y Electrónica (DTE), Escuela Técnica Superior de Ingeniería y Sistemas de Telecomunicación (ETSIST), Universidad Politécnica de Madrid (UPM), C/Nikola Tesla, s/n/, 28031 Madrid, Spain
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Appl. Sci. 2020, 10(3), 1086; https://doi.org/10.3390/app10031086
Received: 1 December 2019 / Revised: 28 January 2020 / Accepted: 30 January 2020 / Published: 6 February 2020
(This article belongs to the Special Issue New Solutions for Robotic Swarms in Sea Operations)
Almost every research project that focuses on the cooperation of autonomous robots for underwater operations designs their own architectures. As a result, most of these architectures are tightly coupled with the available robots/vehicles for their respective developments, and therefore the mission plan and management is done using an ad-hoc solution. Typically, this solution is tightly coupled to just one underwater autonomous vehicle (AUV), or a restricted set of them selected for the specific project. However, as the use of AUVs for underwater operations increases, there is the need to identify some commonalities and weaknesses of these architectures, specifically in relation to mission planning and management. In this paper, we review a selected number of architectures and frameworks that in one way or another make use of different approaches to mission planning and management. Most of the selected works were developed for underwater operations. Still, we have included some other architectures and frameworks from other domains that can be of interest for the survey. The explored works have been assessed using selected features related to mission planning and management, considering that underwater operations are performed in an uncertain and unreliable environment, and where unexpected events are not strange. Furthermore, we have identified and highlighted some potential challenges for the design and implementation of mission managers. This provides a reference point for the development of a mission manager component to be integrated in architectures for cooperative robotics in underwater operations, and it can serve for the same purposes in other domains of application. View Full-Text
Keywords: mission management; mission plan; mission plan adaptation; cooperative robotics; system architectures; agent virtualization; mission plan dispatching and execution mission management; mission plan; mission plan adaptation; cooperative robotics; system architectures; agent virtualization; mission plan dispatching and execution
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MDPI and ACS Style

Lucas Martínez, N.; Martínez-Ortega, J.-F.; Castillejo, P.; Beltrán Martínez, V. Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations. Appl. Sci. 2020, 10, 1086. https://doi.org/10.3390/app10031086

AMA Style

Lucas Martínez N, Martínez-Ortega J-F, Castillejo P, Beltrán Martínez V. Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations. Applied Sciences. 2020; 10(3):1086. https://doi.org/10.3390/app10031086

Chicago/Turabian Style

Lucas Martínez, Néstor, José-Fernán Martínez-Ortega, Pedro Castillejo, and Victoria Beltrán Martínez. 2020. "Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations" Applied Sciences 10, no. 3: 1086. https://doi.org/10.3390/app10031086

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