Automated Mission Parallelization for Unmanned Underwater Vehicles

Gary Giger, Mahmut Kandemir, S, Dan Lovell, John Dzielski, Sekhar Tangirala

In the past Unmanned Underwater Vehicles (UUVs) have been used to perform different tasks such as mapping the ocean floor and on-site exploration. Current research reveals even more applications for UUVs in many different areas in-cluding the military, scientific research, commercial uses, and even certain aspects of law enforcement. Unless missions for these applications can be written using a high-level pro-gramming language, many of these missions will be error prone and difficult to maintain, especially if missions are cre-ated for a group of cooperating UUVs to achieve a common goal. If the group contains UUVs that have different capabili-ties all together, writing and maintaining multiple missions for this heterogeneous group will be even more difficult. The goal in this paper is to propose methods that utilize an exist-ing high-level Mission Programming Language (MPL) as a framework to allow a user to create a set of parallel sub-missions for a group of UUVs from a user specified mission. We discuss various methods of generating automatically a set of parallel sub-missions from this user specified mission and provide some preliminary results from our simulations that implement the proposed methods.

Subjects: 7.1 Multi-Agent Systems; 17. Robotics

Submitted: Sep 12, 2007