Augmented reactive mission planning architecture

Somaiyeh MahmoudZadeh, David M.W. Powers, Reza Bairam Zadeh

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

2 Citations (Scopus)


Advancing the decision autonomy is a real challenge in the development of today AUVs as their operation is still restricted to very particular tasks that usually supervised by the human operator(s). Having a robust decision-making system along with an accurate motion planning mechanism facilitates a single vehicle to manage its restricted energy resources and endurance times toward accomplishing various complex tasks in a single mission while accompanying any immediate changes of a highly uncertain environment. The proceeding approach builds on recent two chapters towards developing a comprehensive structure for AUV mission planning, task-time managing, routing, and synchronic online motion planning adaptive to sudden changes of the time-variant marine environment. To this end, the following objectives are defined to approach the mentioned above expectations: To augment the mission planner with a real time motion planner;To accommodate a concurrent operation and synchronization among mission and motion planners;To split a large-scaled terrain to smaller efficient operational windows, which results in reducing the computational burden of motion planning system;To detect anomalies and compensate any lost time during the motion re-planning process;Advancing the system with a synchronous re-scheduling mechanism to manage mission time and reprioritizing the tasks; This chapter introduces an “Augmented Reactive Mission Planning Architecture” (ARMPA) and exercises DE meta-heuristic algorithm in layers of the proposed control architecture to investigate the efficiency of the structure in addressing the given objectives and ensuring the stability of ARMPA performance in real-time task-time-threat management. Numerical simulations for analysis of different situations of the real-world environment is accomplished separately for each layer and also for the entire ARMPA model at the end.

Original languageEnglish
Title of host publicationAutonomy and Unmanned Vehicles
Subtitle of host publicationAugmented Reactive Mission and Motion Planning Architecture
EditorsSomaiyeh MahmoudZadeh, David M. W. Powers, Reza Bairam Zadeh
Place of PublicationSingapore
PublisherSpringer International Publishing
Number of pages13
ISBN (Electronic)978-981-13-2245-7
ISBN (Print)978-981-13-2244-0
Publication statusPublished - 1 Jan 2019

Publication series

NameCognitive Science and Technology
ISSN (Print)2195-3988
ISSN (Electronic)2195-3996


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