An improved IMMENS framework to handle conflicting temporal plans in maritime environments
conference paper
The IMMENS framework focuses on enabling the dynamic cooperation of a collection of maritime on-board cyber-physical systems to collectively plan towards an overall (global) goal. In this paper we propose to augment the original IMMENS framework with a new module that implements a formal approach from the literature to facilitate the handling of temporal conflicts in plans. To show that the module is able to handle a sufficiently complex fusion of sub-plans to be incorporated into IMMENS, we applied it to a use-case taking inspiration from the literature. This use-case was used to show that the new module facilitates the merging of sub-plans with temporal dependencies by combining all events in the sub-plans, recalculating the temporal dependencies and finding possible incoherence in the final plan and pointing out where conflicts arise. We present the module and motivate its benefits. With this feature, IMMENS can temporally merge sub-plans. Furthermore, the new module can provide assistance to solve incoherent plans, which was an issue during temporal fusion before.
Topics
TNO Identifier
996274
Publisher
Marine Technology Society, IEEE Oceanic Engineering Society
Source title
Oceans 2024 Conference & Expositionm
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