Next Article in Journal
Smart Environmental Data Infrastructures: Bridging the Gap between Earth Sciences and Citizens
Next Article in Special Issue
Survey of Mission Planning and Management Architectures for Underwater Cooperative Robotics Operations
Previous Article in Journal
Image Super-Resolution Based on CNN Using Multilabel Gene Expression Programming
Previous Article in Special Issue
Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
Article

Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles

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
*
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(3), 855; https://doi.org/10.3390/app10030855
Received: 1 January 2020 / Revised: 16 January 2020 / Accepted: 21 January 2020 / Published: 25 January 2020
(This article belongs to the Special Issue New Solutions for Robotic Swarms in Sea Operations)
In recent years there has been an increasing interest in the use of autonomous underwater vehicles (AUVs) for ocean interventions. Typical operations imply the pre-loading of a pre-generated mission plan into the AUV before being launched. Once deployed, the AUV waits for a start command to begin the execution of the plan. An onboard mission manager is responsible for handling the events that may prevent the AUV from following the plan. This approach considers the management of the mission only at the vehicle level. However, the use of a mission-level manager in coordination with the onboard mission manager could improve the handling of exogenous events that cannot be handled fully at the vehicle level. Moreover, the use of vehicle virtualization by the mission-level manager can ease the use of older AUVs. In this paper, we propose a new mission-level manager to be run at a control station. The proposed mission manager, named Missions and Task Register and Reporter (MTRR), follows a decentralized hierarchical control pattern for self-adaptive systems, and provides a basic virtualization in regard to the AUV’s planning capabilities. The MTRR has been validated as part of the SWARMs European project. During the final trials we assessed its effectiveness and measured its performance. As a result, we have identified a strong correlation between the length of mission plan and the time required to start a mission ( ρ s = 0.79 ,   n = 45 ,   p 0.001 ). We have also identified a possible bottleneck when accessing the repositories for storing the information from the mission. Specifically, the average time for storing the received state vectors in the relational database represented only 18.50% of the average time required for doing so in the semantic repository. View Full-Text
Keywords: cooperative robotics; autonomous underwater vehicles; automated mission planning; automated mission management; control station cooperative robotics; autonomous underwater vehicles; automated mission planning; automated mission management; control station
Show Figures

Graphical abstract

MDPI and ACS Style

Lucas Martínez, N.; Martínez-Ortega, J.-F.; Rodríguez-Molina, J.; Zhai, Z. Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles. Appl. Sci. 2020, 10, 855. https://doi.org/10.3390/app10030855

AMA Style

Lucas Martínez N, Martínez-Ortega J-F, Rodríguez-Molina J, Zhai Z. Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles. Applied Sciences. 2020; 10(3):855. https://doi.org/10.3390/app10030855

Chicago/Turabian Style

Lucas Martínez, Néstor, José-Fernán Martínez-Ortega, Jesús Rodríguez-Molina, and Zhaoyu Zhai. 2020. "Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles" Applied Sciences 10, no. 3: 855. https://doi.org/10.3390/app10030855

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop