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A genetic planner for mission planning of cooperative agents in an underwater environment
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0002-5224-8302
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0002-5832-5452
2017 (English)In: The 2016 IEEE Symposium Series on Computational Intelligence SSCI'16, 2017, 7850163Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a Genetic Algorithm (GA) is used for solving underwater mission planning problem. The proposed genetic planner is capable of utilizing multiple Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) in a mission plan, as well as running multiple tasks in parallel on the agent’s level. The problem is described using STRIPS modeling language. The proposed planner shows high robustness regarding initial population set, which is randomly generated. Chromosomes have variable length, consisting of active and inactive genes. Various genetic operators are used in order to improve convergence of the algorithm. Although genetic planner presented in this work is for underwater missions, this planning approach is universal, and it is not domain dependent. Results for a realistic case study with five AUVs and almost 30 tasks show that this approach can be used successfully for solving complex mission planning problems.

Place, publisher, year, edition, pages
2017. 7850163
Keyword [en]
High-Level Planning, Genetic Algorithms, Mission Planning, Multi-Agent Systems, Underwater robotics
National Category
Computer Systems
Identifiers
URN: urn:nbn:se:mdh:diva-34089DOI: 10.1109/SSCI.2016.7850163ISI: 000400488302069Scopus ID: 2-s2.0-85016008798ISBN: 978-1-5090-4240-1 (print)OAI: oai:DiVA.org:mdh-34089DiVA: diva2:1056587
Conference
The 2016 IEEE Symposium Series on Computational Intelligence SSCI'16, 6-9 Dec 2016, Athens, Greece
Projects
Smart and networking underWAter Robots in cooperation MesheS
Available from: 2016-12-15 Created: 2016-12-13 Last updated: 2017-06-09Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf