Abstract
This paper describes a situated reasoning architecture and a programming implementation for controlling robots in naturally changing environments. The reactive portion of the architecture produces reaction plans that exploit low-level competences as operators. The low-level competences include both obstacle avoidance heuristics and control-theoretic algorithms for generating and following a velocity/acceleration trajectory. Implemented in the GAPPS/REX situated automata programming language, robot goals can be specified logically and can be compiled into runtime virtual circuits that map sensor information into actuator commands in a fashion that allows for parallel execution. Detailed programs are described for controlling underwater vehicles being developed at the Woods Hole Oceanographic Institution, specifically the Remotely Piloted Vehicle (RPV), its successor, the Hylas, and eventually the Autonomous Benthic Explorer (ABE). Experiments with the RPV in a test tank are described in detail and will be duplicated with the Hylas. The experiments show that the robot performed both pilotaided and autonomous exploration tasks while accommodating normal changes in the task environment. ABE programs are described to illustrate how the reaction plans can be used in tasks more complex than those in the RPV experiments. The ABE is required to gather scientific data from deep ocean phenomena (e.g., thermal vents) which occur sporadically over long periods of time. A test tank simulation is described wherein the architecture is shown to easily generate robust vehicle control schemes which gather the required thermal vent data for a variety of vents of varying positions, velocities and extents.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
R.P. Bonasso, V.S. Hwang, J.C. Sanborn, and W.E. Stoney, “Investigating robot safety and robustness in an autonomous systems laboratory,” in Proceedings of the 1990 Space Applications of AI, Robotics, and Automation, Kobe, Japan, 1990, pp. 105–108.
R.A. Brooks, “A robust layered control system for a mobile robot”, IEEE Journal of Robotics and Automation, RA-2, pp. 14–23, 1986.
D. Chapman and P.E. Agre, “Abstract reasoning as emergent from concrete activity,” in Proceedings of the Workshop on Planning & Reasoning About Actions and Plans, Portland, OR, 1986, pp. 268–272.
L.P. Kaelbling, “An architecture for intelligent reactive systems,” in Reasoning about Actions and Plans, Morgan Kaufman, pp. 395–410, 1987.
J.R. Firby, “Adaptive execution in complex dynamic worlds,” Ph.D. Dissertation, Dept. of Computer Science, Yale University, YALEU/CSD/PR # 672, 1989.
M.J., Schoppers, “In defense of reaction plans as caches,” AI Magazine, 10(4), pp. 51–60, 1989.
D.R. Yoerger, and J.E. Slotine, “Adaptive sliding control of an experimental underwater vehicle,” in Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, CA, 1991, pp. 2746–2751.
R.P. Bonasso, “Creature CO-OP: Achieving robust remote operations with a community of low-cost robots,” in Fifth Conference on AI for Space Applications, Huntsville, AL, 1990, pp. 257–269.
R.P. Bonasso, “Underwater experiments with a reactive system for autonomous vehicles,” in Proceedings of the 9th National Conference on Artificial Intelligence, Anaheim, CA, 1991, pp. 794–800.
L.P. Kaelbling, “Goals as parallel program specifications,” in Proceedings of the Seventh National Conference on Artificial Intelligence, Minneapolis-St. Paul, MN, 1988, pp. 60–65.
D.R., Yoerger, A.M., Bradley, and B.B., Walden, “The autonomous benthic explorer” in Unmanned Systems, 9/2. Spring. Association for Unmanned Vehicle Systems. Washington, D.C., 1991, pp. 17–23.
R.P. Bonasso, “Integrating reaction plans and layered competences through synchronous control,” in Proceedings of the 12th International Joint Conference on Artificial Intelligence, Sydney, Australia, 1991, pp. 1225–1231.
S.J. Rosenschein, and L.P. Kaelbling, “The synthesis of digital machines with provable epistemic properties,” in Proceedings of the Conference on Theoretical Aspects of Reasoning About Knowledge, Monterey, CA, 1988, pp. 83–98.
M.G. Slack, “Situationally driven local navigation for mobile robots,” JPL Pub. 90-17, NASA, 1990.
M.L., Ginsberg, “Universal planning: An (almost) universally bad idea,” AI Magazine, 10(4), pp. 40–44, 1989.
R.P. Bonasso, “Coordinating sensing and action in a shallow underwater environment,” in Proceedings of the International Symposium on Applications in Optical Science and Engineering, Vol. 1611, Boston, MA, Nov, 1991, pp. 320–330.
RIDGE Initial Science Plan 1989. The Ridge Office, School of Oceanography. WB-10, University of Washington, Seattle, WA, Feb. 1989.
P., Maes, “Situated agents can have goals,” Robotics and autonomous Systems, 6(1&2), pp. 49–70, 1990.
D. Chapman, “Vision, instruction, and action,” Ph.D. Dissertation, MIT TR & 1204, 1990.
E. Gat. “Taking the second left: Reliable goal-directed reactive control for real-world autonomous robots,” Ph.D. Dissertation, Virginia Polytechnical Institute, 1991.
J.G. Bellingham, T.R. Consi, R.M. Beaton, and W. Hall, “Keeping layered control simple,” in Proceedings of the Symposium on Autonomous Underwater Vehicle Technology, Washington, D.C., 1990, pp. 3–8.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Bonasso, R.P. Using parallel program specifications for reactive control of underwater vehicles. Appl Intell 2, 201–224 (1992). https://doi.org/10.1007/BF00119549
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF00119549