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May 7, 2008

Mtg: Adaptive Control for Autonomous Underwater Vehicles

by @ 6:53 am. Filed under ALL, Communications, Computers/Software, Electronics Design, Engineering Mgmt

SCV Robotics and Automation Chapter
Speaker: Conor McGann, Monterey Bay Aquarium Research Institute (MBARI) / Willow Garage
Time: Presentation at 7:00 PM
Cost: none
Place: Carnegie-Mellon West campus, Moffet Field
RSVP: not required
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Autonomous Underwater Vehicles (AUV) are mobile robotic platforms used by the oceanographic community for exploration in diverse environments from the seafloor to the ocean surface. ? The extensive payload capacity and operational versatility of AUV’s offer a cost-effective alternative to traditional ship-based oceanographic measurements for advancing ocean research. ? Existing mission control practices rely on manually scripted plans produced prior to mission execution. ? Mission scripts are prone to error and do not afford adaptability of the vehicle to unanticipated events. ? Such adaptability is critical to maximize science utility from the limited time, energy and sampling opportunities available for a mission. To address these issues, we have developed and deployed an Adaptive Control System that integrates Planning and Probabilistic State Estimation in a goal-directed hybrid executive, enabling scientists to detect, survey and sample events of an unpredictable nature. ? The system developed for ocean science is general purpose and adaptable to other ocean going and terrestrial platforms.


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