Goal Deliberation for UUV Control

Abstract

Goal reasoning (GR) is the ability for AI agents to dynamically reason about and change their goals to better align their activities with real-world conditions during execution. In previous work we have integrated existing GR models onboard unmanned underwater vehicles (UUVs) and demonstrated their ability to interact with UUV control systems and direct the UUVs to accomplish different goals based on sensor feedback from the environment. However, these GR models were based on discrete models of action, and providing them with dynamic, up-to-date cost estimation for UUV maneuvers was not straightforward. Further, these models used reactive, single-goal selection and did not consider the impact of changing goals on the long-term success of the mission. The objective of this project was to address these needs by developing a new GR model for use in embodied agents, and to demonstrate its efficacy in the UUV domain.

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Document Details

Document Type
Technical Report
Publication Date
Sep 12, 2021
Accession Number
AD1149309

Entities

People

  • David W. Aha
  • Mark A. Wilson

Organizations

  • United States Naval Research Laboratory

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • Autonomy
  • Computational Complexity
  • Control Systems
  • Costs
  • Engineering
  • Environment
  • Information Systems
  • Navigation
  • Ocean Currents
  • Operations Research
  • Simulations
  • Simulators
  • Underwater Vehicles
  • Unmanned Underwater Vehicles
  • Unmanned Vehicles
  • Vehicles

Readers

  • Acoustical Oceanography.
  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Computational Modeling and Simulation

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control