Post on 15-Jul-2020
Collaborative Robotics and Intelligent Systems (CoRIS) Institute
Taskable and Adaptable Autonomy for Heterogeneous Marine Vehicles
Geoff Hollinger and Julie A. AdamsCollaborative Robotics and Intelligent Systems (CoRIS) Institute
Kipp Shearman, Jonathan Nash, and Jack BarthCollege of Earth, Ocean & Atmospheric Sciences
April, 2018
Collaborative Robotics and Intelligent Systems (CoRIS) Institute
Motivation: Autonomous Ocean Monitoring➢ Ocean monitoring provides insight into
many ocean features• Coastal upwellings• Hypoxia• Chemical spills
➢ Traditional methods for long-term ocean monitoring are inefficient• Research vessel time costs upwards of
$30,000 per day• Autonomous underwater and surface
vehicles can reduce this cost• Current levels of autonomy are
insufficient to gather critical data without highly-trained operators
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Newport, OR
Upwellings
Collaborative Robotics and Intelligent Systems (CoRIS) Institute
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Challenge 1 : Decision Support Systems➢ Operator support tool
• Allows for high-level decision making by operator
• Visualization of existing and predicted environmental features (temperature, salinity, currents, etc.)
• Compatible with heterogeneous underwater and surface vehicles
• Integration of satellite data and ocean models
Collaborative Robotics and Intelligent Systems (CoRIS) Institute
Challenge 2: Adaptive Autonomous Control➢ Multi-Robot data gathering
• Collaborative mapping from asynchronous observations
• Topological planning to improve efficiency
• Distributed methods for multiple vehicles
S. McCammon and G. Hollinger “Topological Hotspot Identification for Informative Path Planning with a Marine
Robot” ICRA, Brisbane, May 2018 (to appear)4
Collaborative Robotics and Intelligent Systems (CoRIS) Institute
Challenge 3: Failure Recovery➢ Autonomous failure identification
and recovery• Operate with minimal technician
intervention• Incorporate uncertainty into
probabilistic detection and recovery• Information theoretic and statistical
methods applied to data from a robot’s sensors
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Collaborative Robotics and Intelligent Systems (CoRIS) Institute
Field testing of marine vehicle autonomy➢ Year 1:
• Initial visualization tools implemented in the field
• Underwater and surface vehicles deployed together
➢ Year 2:• Adaptive decision making• Failure recovery testing
➢ Year 3:• Final testing of all components
of the system
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Collaborative Robotics and Intelligent Systems (CoRIS) Institute
Come see our poster!NSF IIS-1723924:
Taskable and Adaptable Autonomy for Heterogeneous Marine Vehicles
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PI
Graduate Students
Geoff Hollinger
Julie A. Adams
KippShearman
Jonathan Nash
Jack Barth
Matthew Frantz
Seth McCammon
Gilberto Marcon
Jasmine Nahorniak
June Marion
Faculty Research Assistants
Pat Welch
Co-PIs