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A mission planner for any
autonomous vehicle must be able to reason about time and space. For an LRAUV,
this means that its controller needs to be able to represent and reason about
the 3D underwater domain, including the bottom's contour and properties (and
those of the surface, as well, for missions under ice), non-mobile and mobile
objects, currents, and thermal boundary layers. It must also be able to
reason about time, both to create plans that remain within time constraints
and to be able to coordinate its actions with other agents (satellites, other
AUVs, users, etc.).