|Title||Toward Goal Reasoning for Autonomous Underwater Vehicles: Responding to Unexpected Agents|
|Publication Type||Conference Proceedings|
|Year of Conference||2016|
|Authors||Wilson, MA, McMahon, J, Wolek, A, Aha, DW, Houston, BH|
|Conference Name||25th International Joint Conference on Artificial Intelligence (IJCAI) Workshop on Goal Reasoning|
|Conference Location||New York, NY|
We describe preliminary work toward applying a goal reasoning agent for controlling an underwater vehicle in a partially observable, dynamic environment. In preparation for upcoming at-sea tests, our investigation focuses on a notional scenario wherein a autonomous underwater vehicle pursuing a survey goal unexpectedly detects the presence of a potentially hostile surface vessel. Simulations suggest that Goal Driven Autonomy can successfully reason about this scenario using only the limited computational resources typically available on underwater robotic platforms.
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