Planning and world modeling for autonomous undersea vehicles

The planning and world modeling components of the MAUV (multiple autonomous undersea vehicles) architecture are described, with a focus on requirements for navigation of the MAUV vehicles. The goal of the MAUV project is to have multiple undersea vehicles exhibiting intelligent, autonomous, cooperative behavior. The MAUV control system is hierarchically structured and incorporates sensing, world modeling, planning, and execution. Also presented are some initial experimental results on lake tests run using code at the servo, primitive, and e-move levels