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Real-Time Hierarchical Planning for Multiple Mobile Robots



Martin Herman, James S. Albus


The Multiple Autonomous Underwater Vehicles (MAUV) project is described. The goal of the project is to have multiple underwater vehicles exhibiting intelligent, autonomous, cooperative behavior. The MAUV control system is hierarchically structured and incorporates sensing, world modeling, planning and execution. The levels in the hierarchy include a mission level, a group level, a vehicle task level, and an elemental action level. Issues of real-time planning and dynamic replanning in unstructured environments are discussed.
Proceedings Title
Proceedings of the DARPA Knowledge-Based Planning Workshop
Conference Dates
December 8-10, 1987
Conference Location
Austin, TX, USA
Conference Title
DARPA Knowledge-Based Planning Workshop




Herman, M. and Albus, J. (1987), Real-Time Hierarchical Planning for Multiple Mobile Robots, Proceedings of the DARPA Knowledge-Based Planning Workshop, Austin, TX, USA, [online], (Accessed June 14, 2024)


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Created December 9, 1987, Updated October 12, 2021