TY - GEN
T1 - Non-linear decision making for robust navigation in role based autonomy
AU - Thome, Robert
AU - Fedor, Christopher
AU - Sustersic, John
AU - Ukah, Ucheoma
N1 - Publisher Copyright:
© 2015 MTS.
PY - 2016/2/8
Y1 - 2016/2/8
N2 - A common approach to the robotic path planning problem is to discretize the search space and plan an optimal path using graph search methods. As the optimality criteria becomes more complex it becomes increasingly difficult to optimize the search with respect to each metric being considered. A hybrid path planning system is introduced that supplements the graph search approach with a cognitive architecture. The selected cognitive architecture, Soar, will provide high level reasoning, guiding the implementation of the graph search and reasoning on the results generated. Given scenario-specific context, the hybrid approach will allow for multiple, complex and possibly conflicting criteria to be considered during path generation.
AB - A common approach to the robotic path planning problem is to discretize the search space and plan an optimal path using graph search methods. As the optimality criteria becomes more complex it becomes increasingly difficult to optimize the search with respect to each metric being considered. A hybrid path planning system is introduced that supplements the graph search approach with a cognitive architecture. The selected cognitive architecture, Soar, will provide high level reasoning, guiding the implementation of the graph search and reasoning on the results generated. Given scenario-specific context, the hybrid approach will allow for multiple, complex and possibly conflicting criteria to be considered during path generation.
UR - http://www.scopus.com/inward/record.url?scp=84963974378&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84963974378&partnerID=8YFLogxK
U2 - 10.23919/oceans.2015.7404583
DO - 10.23919/oceans.2015.7404583
M3 - Conference contribution
AN - SCOPUS:84963974378
T3 - OCEANS 2015 - MTS/IEEE Washington
BT - OCEANS 2015 - MTS/IEEE Washington
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - MTS/IEEE Washington, OCEANS 2015
Y2 - 19 October 2015 through 22 October 2015
ER -