Abstract
We describe preliminary work toward applying a goal reasoning agent for controlling an underwater vehicle in a partially observable, dynamic environment. In initial at-sea tests, our investigation focuses on a notional scenario wherein an autonomous underwater vehicle pursuing a survey goal unexpectedly detects the presence of a potentially hostile surface vessel. Our tests suggest that Goal-Driven Autonomy, a model of goal reasoning, can successfully reason about this scenario using only the limited computational resources typically available on underwater robotic platforms.
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