EAVE-West: A Testbed for Plan Execution.

摘要

The Experimental Autonomous Vehicle - West (EAVE-West) submersible testbed has been configured for demonstrating a distributable software architecture for Autonomous Undersea Vehicle (AUV) plan execution. Instead of using a machine planner aboard the AUV, plans are represented and then downloaded to the vehicle. This technique obviates the problems associated with planning and, as a result, the real-time response of the AUV can potentially be improved. A review of the architecture is given and the EAVE-West demonstration system is discussed.