SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

G. R. Silva, Juliane Päßler, Jeroen Zwanepol, Elvin Alberts, S. L. T. Tarifa, I. Gerostathopoulos, E. Johnsen, C. H. Corbato
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引用次数: 1

Abstract

Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this paper presents SUAVE, an exemplar for two-layered system-level adaptation of AUVs, which clearly separates the application and self-adaptation concerns. The exemplar focuses on a mission for underwater pipeline inspection by a single AUV, implemented as a ROS 2-based system. This mission must be completed while simultaneously accounting for uncertainties such as thruster failures and unfavorable environmental conditions. The paper discusses how SUAVE can be used with different self-adaptation frameworks, illustrated by an experiment using the Metacontrol framework to compare AUV behavior with and without self-adaptation. The experiment shows that the use of Metacontrol to adapt the AUV during its mission improves its performance when measured by the overall time taken to complete the mission or the length of the inspected pipeline.
SUAVE:自适应水下航行器的典范
一旦部署到现实世界中,自主水下航行器(auv)就无法受到人类的监督,但需要做出决定,以适应不稳定和不可预测的环境。为了促进自适应auv的研究,本文提出了一种双层系统级auv自适应范例SUAVE,该范例将应用和自适应问题清晰地分离开来。该范例侧重于单个AUV的水下管道检查任务,作为基于ROS - 2的系统实现。这项任务必须在完成的同时考虑到诸如推进器故障和不利的环境条件等不确定因素。本文讨论了SUAVE如何与不同的自适应框架一起使用,并通过使用元控制框架的实验来比较有和没有自适应的AUV行为。实验表明,通过完成任务所需的总时间或被检查管道的长度来衡量,在任务期间使用元控制对AUV进行调整可以提高其性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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