Multi-objective optimization of sensor quality with efficient marine vehicle task execution

Journal article

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 multi-objective optimization in a behavior-based architecture to address this problem. © 2006 IEEE.

Authors: Benjamin, M; Grund, M; Newman, P

• Journal: Proceedings - IEEE International Conference on Robotics and Automation
• Volume: 2006
• Pages: 3226-3232
• Publication date: 2006-01-01
• DOI: 10.1109/ROBOT.2006.1642193
• ISSN: 1050-4729
• Language: English