Improving Multi-AUV Coordination with Hierarchical Blackboard-Based Plan Representation

  title={Improving Multi-AUV Coordination with Hierarchical Blackboard-Based Plan Representation},
  author={Chris C. Sotzing and Nick Johnson and David M. Lane},
The current state of the art in autonomous underwater vehicle (AUV) mission representation is sequential script-based plans. Though simple and easy to understand by an experienced user, this way of representing a mission is limited to static goal order and cannot easily handle unforeseen events. This limitation is amplified in multi-vehicle missions where actions need to be coordinated. This research aims to improve upon the current state of the art by designing and implementing a dynamic… CONTINUE READING


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