Marine Robot Autonomy

This book examines the unique challenges presented by underwater environments when designing autonomous robots. It presents new solutions like multi-agent systems and autonomy frameworks and includes several useful case studies.

Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required. Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.

Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping Includes supplementary material: sn.pub/extras

Inhalt

Introduction to Autonomy for Marine Robots.- Autonomy for Unmanned Marine Vehicles with MOOS-IvP.- Towards Deliberative Control in Marine Robotics.- Path Planning for Autonomous Underwater Vehicles.- An Ontology Based Approach to Fault Tolerant Mission Execution for Autonomous Platforms.- Cooperation Between Underwater Vehicles.- Behaviour Adaptation by Means of Reinforcement Learning.- Simultaneous Localization and Mapping in Marine Environments.