Multi-objective Optimization of Sensor Quality with Efficient Marine Vehicle Task Execution

Abstract

This paper describes the in- field operation of two interacting autonomous marine vehicles to demonstrate the suitability of Interval Programming (IvP), a novel mathematical model for multiple-objective optimization. Broadly speaking IvP coordinates competing control needs such as primary task execution that depends on a sufficient position estimate, and vehicle maneuvers that will improve that position estimate. In this work, vehicles cooperate to improve their position estimates using a sequence of vehicle-to-vehicle range estimates from acoustic modems. Coordinating primary task execution and sensor quality maintenance is a ubiquitous problem, especially in underwater marine vehicles. This work represents the first use of multiobjective optimization in a behavior-based architecture to address this problem.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
May 01, 2006
Accession Number
ADA572906

Entities

People

  • Matthew Grund
  • Michael Benjamin
  • Paul Newman

Organizations

  • Naval Sea Systems Command

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Computer Programming
  • Control Systems
  • Frequency
  • Frequency Agility
  • Frequency Shift
  • Information Operations
  • Maneuvers
  • Measurement
  • Multiobjective Optimization
  • Multiple Access
  • Navigation
  • Optimization
  • Sequences
  • Underwater Vehicles
  • Vehicles

Readers

  • Robotics and Automation.
  • Team-Based Human-Centered Cognitive Task Decision Making and Information Performance.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.