Motion Planning and Decision Making for Underwater Vehicles Operating in Constrained Environments in the Littoral

  • Erion Plaku
  • James McMahon
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8069)


This paper seeks to enhance the mission and motion-planning capabilities of autonomous underwater vehicles (AUVs) operating in constrained environments in the littoral zone. The proposed approach automatically plans low-cost, collision-free, and dynamically-feasible motions that enable an AUV to carry out missions expressed as formulas in temporal logic. The key aspect of the proposed approach is its use of roadmap abstractions in configuration space to guide the expansion of a tree of feasible motions in the state space. This makes it possible to effectively deal with challenges imposed by the vehicle dynamics and the need to operate in the littoral zone, which is characterized by confined waterways, shallow water, complex ocean floor topography, varying currents, and miscellaneous obstacles. Experiments with accurate AUV models carrying out different missions show considerable improvements over related work in reducing both the running time and solution costs.


Vehicle Dynamic Linear Temporal Logic Ocean Floor Automaton State Linear Temporal Logic Formula 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The work of J. McMahon is supported by the Office of Naval Research, code 32.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.Department of Electrical Engineering and Computer ScienceCatholic University of AmericaWashingtonUSA
  2. 2.U.S. Naval Research LaboratoryWashingtonUSA

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