A Hierarchal Planning Framework for AUV Mission Management in a Spatio-Temporal Varying Ocean

The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea environment, where spatio-temporal variability of the operating field is taken into account. To this end, a high level reactive mission planner and a low level motion planning system are constructed. The high level system is responsible for task priority assignment and guiding the vehicle toward a target of interest considering on-time termination of the mission. The lower layer is in charge of generating optimal trajectories based on sequence of tasks and dynamicity of operating terrain. The mission planner is able to reactively re-arrange the tasks based on mission/terrain updates while the low level planner is capable of coping unexpected changes of the terrain by correcting the old path and re-generating a new trajectory. As a result, the vehicle is able to undertake the maximum number of tasks with certain degree of maneuverability having situational awareness of the operating field. The computational engine of the mentioned framework is based on the biogeography based optimization (BBO) algorithm that is capable of providing efficient solutions. To evaluate the performance of the proposed framework, firstly, a realistic model of undersea environment is provided based on realistic map data, and then several scenarios, treated as real experiments, are designed through the simulation study. Additionally, to show the robustness and reliability of the framework, Monte-Carlo simulation is carried out and statistical analysis is performed. The results of simulations indicate the significant potential of the two-level hierarchical mission planning system in mission success and its applicability for real-time implementation

On the use of biased-randomized algorithms for solving non-smooth optimization problems

Soft constraints are quite common in real-life applications. For example, in freight transportation, the fleet size can be enlarged by outsourcing part of the distribution service and some deliveries to customers can be postponed as well; in inventory management, it is possible to consider stock-outs generated by unexpected demands; and in manufacturing processes and project management, it is frequent that some deadlines cannot be met due to delays in critical steps of the supply chain. However, capacity-, size-, and time-related limitations are included in many optimization problems as hard constraints, while it would be usually more realistic to consider them as soft ones, i.e., they can be violated to some extent by incurring a penalty cost. Most of the times, this penalty cost will be nonlinear and even noncontinuous, which might transform the objective function into a non-smooth one. Despite its many practical applications, non-smooth optimization problems are quite challenging, especially when the underlying optimization problem is NP-hard in nature. In this paper, we propose the use of biased-randomized algorithms as an effective methodology to cope with NP-hard and non-smooth optimization problems in many practical applications. Biased-randomized algorithms extend constructive heuristics by introducing a nonuniform randomization pattern into them. Hence, they can be used to explore promising areas of the solution space without the limitations of gradient-based approaches, which assume the existence of smooth objective functions. Moreover, biased-randomized algorithms can be easily parallelized, thus employing short computing times while exploring a large number of promising regions. This paper discusses these concepts in detail, reviews existing work in different application areas, and highlights current trends and open research lines

Hybrid Satellite-Terrestrial Communication Networks for the Maritime Internet of Things: Key Technologies, Opportunities, and Challenges

With the rapid development of marine activities, there has been an increasing number of maritime mobile terminals, as well as a growing demand for high-speed and ultra-reliable maritime communications to keep them connected. Traditionally, the maritime Internet of Things (IoT) is enabled by maritime satellites. However, satellites are seriously restricted by their high latency and relatively low data rate. As an alternative, shore & island-based base stations (BSs) can be built to extend the coverage of terrestrial networks using fourth-generation (4G), fifth-generation (5G), and beyond 5G services. Unmanned aerial vehicles can also be exploited to serve as aerial maritime BSs. Despite of all these approaches, there are still open issues for an efficient maritime communication network (MCN). For example, due to the complicated electromagnetic propagation environment, the limited geometrically available BS sites, and rigorous service demands from mission-critical applications, conventional communication and networking theories and methods should be tailored for maritime scenarios. Towards this end, we provide a survey on the demand for maritime communications, the state-of-the-art MCNs, and key technologies for enhancing transmission efficiency, extending network coverage, and provisioning maritime-specific services. Future challenges in developing an environment-aware, service-driven, and integrated satellite-air-ground MCN to be smart enough to utilize external auxiliary information, e.g., sea state and atmosphere conditions, are also discussed

Adoption of vehicular ad hoc networking protocols by networked robots

This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan