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Terrain characterisation for online adaptability of automated sonar processing: Lessons learnt from operationally applying ATR to sidescan sonar in MCM applications
The first technnique provides a quantitative, application-driven terrain characterisation metric based on the performance of an ATR algorithm.
Towards Explaining Autonomy with Verbalised Decision Tree States
To bridge this gap between in-mission robotic behaviours and operators' expectations, this work aims to provide a framework to explain decisions and actions taken by an autonomous vehicle during the mission, in an easy-to-understand manner.
Improving the Modularity of AUV Control Systems using Behaviour Trees
In this paper, we show how behaviour trees (BTs) can be used to design modular, versatile, and robust control architectures for mission-critical systems.
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