Multi-objective optimization of sensor quality with efficient marine vehicle task execution
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 execu...
| Main Authors: | , , |
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| Format: | Journal article |
| Language: | English |
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2006
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| _version_ | 1797055417325453312 |
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| author | Benjamin, M Grund, M Newman, P |
| author_facet | Benjamin, M Grund, M Newman, P |
| author_sort | Benjamin, M |
| collection | OXFORD |
| description | 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. |
| first_indexed | 2024-03-06T19:10:25Z |
| format | Journal article |
| id | oxford-uuid:16961c50-a2c9-4fdd-a092-a42181c4e229 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-06T19:10:25Z |
| publishDate | 2006 |
| record_format | dspace |
| spelling | oxford-uuid:16961c50-a2c9-4fdd-a092-a42181c4e2292022-03-26T10:32:06ZMulti-objective optimization of sensor quality with efficient marine vehicle task executionJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:16961c50-a2c9-4fdd-a092-a42181c4e229EnglishSymplectic Elements at Oxford2006Benjamin, MGrund, MNewman, PThis 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. |
| spellingShingle | Benjamin, M Grund, M Newman, P Multi-objective optimization of sensor quality with efficient marine vehicle task execution |
| title | Multi-objective optimization of sensor quality with efficient marine vehicle task execution |
| title_full | Multi-objective optimization of sensor quality with efficient marine vehicle task execution |
| title_fullStr | Multi-objective optimization of sensor quality with efficient marine vehicle task execution |
| title_full_unstemmed | Multi-objective optimization of sensor quality with efficient marine vehicle task execution |
| title_short | Multi-objective optimization of sensor quality with efficient marine vehicle task execution |
| title_sort | multi objective optimization of sensor quality with efficient marine vehicle task execution |
| work_keys_str_mv | AT benjaminm multiobjectiveoptimizationofsensorqualitywithefficientmarinevehicletaskexecution AT grundm multiobjectiveoptimizationofsensorqualitywithefficientmarinevehicletaskexecution AT newmanp multiobjectiveoptimizationofsensorqualitywithefficientmarinevehicletaskexecution |