APPROPRIATE COMMITMENT PLANNING FOR AUV CONTROL∗

• Main Authors: Erik Albert, Elise H. Turner, Roy M. Turner
• Other Authors: The Pennsylvania State University CiteSeerX Archives
• Format: Text
• Language: English
• Subjects: Orga; Orca
• Online Access: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.453.5395; http://context.umcs.maine.edu/MaineSAIL/projects/ACP/pubs/albert07appropriate.pdf

We propose a method for reactive mission planning in dynamic environments that also allows for ap-propriate commitments to future actions and goals. We consider appropriate commitments to be those based on predictable features of the situation and environment that are unlikely to change. By orga-nizing other actions based on these commitments, we hope to create a planner that is able not only to react quickly to unanticipated events, but also coor-dinate its actions with other agents, handle newly-arising goals, and perform missions efficiently and effectively. This approach to mission planning is currently being implemented in the Orca 3 AUV Mission Planner.