{"paper":{"title":"A Novel Versatile Architecture for Autonomous Underwater Vehicle's Motion Planning and Task Assignment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Amir Mehdi Yazdani, David M.W Powers, Karl Sammut, Somaiyeh Mahmoud Zadeh","submitted_at":"2016-04-12T08:55:44Z","abstract_excerpt":"Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the mission productivity in a restricted time. This paper focuses on developing a deliberative conflict-free-task assignment architecture encompassing a Global Route Planner (GRP) and a Local Path Planner (LPP) to provide consistent motion planning encountering both environmental dynamic changes and a priori knowledge of the terrain, so that the AUV is reactively"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.03308","kind":"arxiv","version":4},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}