Context-Sensitive, Adaptive Reasoning for Intelligent AUV Control: Orca Project Update

• Main Author: Roy Turner
• Other Authors: The Pennsylvania State University CiteSeerX Archives
• Format: Text
• Language: English
• Published: 1995
• Subjects: Orca
• Online Access: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.34.1535; http://bronte.umcs.maine.edu/MSEL/Papers/1995/AUV/body.ps

Intelligent mission-level control of autonomous underwater vehicles demands an adaptive reasoner : a program that can create plans for accomplishing mission goals, but that does not overcommit to future details, that remains ready to interrupt what it is doing as the situation evolves, and whose behavior is always appropriate for the context in which the AUV finds itself. The goal of the Orca project is to create such a reasoner. Our approach is based on schema-based reasoning , an adaptive reasoning method that uses procedural and contextual schemas to represent all problem-solving knowledge. This paper describes the Orca program and discusses the project's current status and our future plans. Intelligent control of autonomous underwater vehicles is a demanding task for which no completely satisfactory approaches have yet been developed. For AUVs that are designed to remain on-station for significant periods of time (e.g., participants in a long-duration autonomous oceanographic sampl.