Handling Unanticipated Events in Single and Multiple AUV
Systems
Roy M. Turner Peggy S. Eaton Martin J. Dempsey
This work is funded in part by grant BCS-9211914 from the
National Science Foundation.
Abstract:
An intelligent controller for AUVs must be able to handle unanticipated
events as they occur. If not, it risks the mission and the vehicle.
Unfortunately, this is a difficult, context-dependent task: the agent must
first detect that there has been an event, then diagnose it, assess its
likely importance, and finally select an appropriate response and integrate
that response into its other actions. Event handling is even more difficult
in situations involving multiple cooperating AUVs, since now the agent must
analyze the event in terms of its likely impact on the others and the group
as a whole. In this paper, we discuss two versions of event handling in
Orca, a schema-based AUV controller for ocean science and cooperative
distributed problem solving missions. We then discuss how the process can
be extended for multiagent event handling.
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