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Collaborative Mission and Route Planning of Multi-vehicle Systems for Autonomous Search in Marine Environment

  • Robot and Applications
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Abstract

As the impact and complexity of disasters, either natural or man-made, have increased, collaborative operation of a group of unmanned vehicles attracts much attention for effective response in disaster environments. In particular, mission planning is crucial for an effective collaboration of multiple heterogeneous vehicle systems. This study presents a mission planning algorithm and its application procedure in disaster situations. In general, disaster response missions such as search, rescue, and oil spill tracking are complicated in nature and come in various forms. Therefore, the mission needs to be broken down into simpler tasks that are more readily achievable to autonomous vehicles without human intervention. This study also presents a set of algorithms for efficient initial search and task allocation. The performance and feasibility of the proposed methodologies are evaluated with numerical simulations.

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Authors and Affiliations

  1. Intelligence & Information Technology Directorate, Agency for Defense Development (ADD), Daejeon, Korea

    Sukmin Yoon

  2. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea

    Haggi Do & Jinwhan Kim

Authors
  1. Sukmin Yoon
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  2. Haggi Do
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  3. Jinwhan Kim
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Correspondence to Jinwhan Kim.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Son-Cheol Yu under the direction of Editor-in-Chief Keum-Shik Hong. The authors gratefully acknowledge the financial support provided by Agency for Defense Development under the contract UD170025DD, and the project titled “Development of a core technology and infra technology for the operation of USV with high reliability” funded by the Ministry of Oceans and Fisheries, Korea.

Sukmin Yoon received his B.S. degree in mechanical engineering from Yeungnam University, Daegu, Korea, in 2012, and an M.S. degree in the division of ocean systems engineering from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea, in 2014, where he is currently pursuing a Ph.D. degree with the Department of Mechanical Engineering. His research interests include multi-agent task allocation, mission planning, and automation.

Haggi Do received his B.S. degree in mechanical engineering from Korea Advanced Institute of Science and Technology, Daejeon, Korea, where he is currently working as an M.S. candidate. His research interests include multi-agent systems and autonomous navigation.

Jinwhan Kim received his B.S. and M.S. degrees in naval architecture and ocean engineering from Seoul National University, Seoul, Korea, and a Ph.D. degree in aeronautics and astronautics from Stanford University, Stanford, CA, USA. He was a full-time Researcher with the Korea Institute of Machinery and Materials and subsequently with the Korea Ocean Research and Development Institute. In 2010, he joined the faculty of the Korea Advanced Institute of Science and Technology, Daejeon, Korea where he is an associate professor of mechanical engineering. His research interests include robotics and guidance, control, and estimation of dynamical systems. He is a Senior Member of AIAA.

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Yoon, S., Do, H. & Kim, J. Collaborative Mission and Route Planning of Multi-vehicle Systems for Autonomous Search in Marine Environment. Int. J. Control Autom. Syst. 18, 546–555 (2020). https://doi.org/10.1007/s12555-019-0666-4

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