Towards innovative approaches of team-oriented mission planning and mission languages for multiple unmanned marine vehicles in event-driven mission

摘要

This paper provides an overview on possibilities to design a common mission language for mission planning of heterogeneous autonomous marine robots that have to perform challenging mission scenarios as parts of a larger group over unstructured terrain. The required concept must therefore be suited for event-driven behavior of the vehicles and allow for high flexibility online. Also, in order to be suited for the usage within the research project MORPH, it must be adaptable to heterogeneous marine robots from a large group of different providers. Furthermore, the mission plans shall be readable by a human operator. In this paper, we will discuss these issues and present the results of the specification phase of the mentioned research project.