Mission planning and specification in the Neptus framework

Author

Dias, Paulo S. ; Goncalves, G.M. ; Gomes, R.M.F. ; Sousa, J.B. ; Pinto, Joel ; Pereira, Fernando L.

Author_Institution

LSTS - Underwater Syst. & Technol. Lab., Porto Univ.

fYear

2006

fDate

15-19 May 2006

Firstpage

3220

Lastpage

3225

Abstract

The C3I (command, control, communication and information) Neptus framework which is being developed at the Underwater Systems and Technology Laboratory (USTL/LSTS) is presented. Neptus is a modular mixed initiative framework (human operators in the control loop) for the operation of heterogeneous teams of vehicles such as autonomous and remotely operated underwater, surface, land, and air vehicles. Neptus is composed of mission and vehicle planning, supervision, and post-mission analysis modules which are provided as services across a network. This paper focus mainly on the mission definition module with the presentation of MDL - a XML based language for mission definition

Keywords

command and control systems; mobile robots; multi-robot systems; path planning; remotely operated vehicles; telerobotics; underwater vehicles; C3I Neptus framework; autonomous surface vehicle; autonomous underwater vehicle; command control communication and information; mission planning; multiple autonomous vehicle; remotely operated vehicle; vehicle planning; Communication system control; Control systems; Humans; Laboratories; Land surface; Land vehicles; Mobile robots; Remotely operated vehicles; Underwater communication; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642192

Filename

1642192