Goal reasoning for autonomous underwater vehicles: Responding to unexpected agents

Issue title: Goal Reasoning

Guest editors: Mark Roberts, Daniel Borrajo, Michael Cox and Neil Yorke-Smith

Article type: Research Article

Authors: Wilson, Mark A.^{a; *} | McMahon, James^b | Wolek, Artur^b | Aha, David W.^a | Houston, Brian H.^b

Affiliations: [a] Navy Center for Applied Research in AI (Code 5510), Naval Research Laboratory, Washington, DC, USA. E-mails: [email protected], [email protected] | [b] Physical Acoustics Branch (Code 7130), Naval Research Laboratory, Washington, DC, USA. E-mails: [email protected], [email protected], [email protected]

Correspondence: [*] Corresponding author. E-mail: [email protected].

Abstract: We describe preliminary work toward applying a goal reasoning agent for controlling an underwater vehicle in a partially observable, dynamic environment. In initial at-sea tests, our investigation focuses on a notional scenario wherein an autonomous underwater vehicle pursuing a survey goal unexpectedly detects the presence of a potentially hostile surface vessel. Our tests suggest that Goal-Driven Autonomy, a model of goal reasoning, can successfully reason about this scenario using only the limited computational resources typically available on underwater robotic platforms.

Keywords: Artificial intelligence, goal reasoning, goal-driven autonomy, underwater vehicle, AUV

DOI: 10.3233/AIC-180755

Journal: AI Communications, vol. 31, no. 2, pp. 151-166, 2018