用于自主水下航行器（AUV）作业的共享自主权认知架构
A Cognitive Architecture for Shared Autonomy in AUV Operations
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中文总结 AI 辅助
本文提出一种由本体和多个LLMs构成的AUV作业共享自主权认知架构，经对比Llama3、GPT-OSS、Qwen2.5后，发现GPT-OSS在可行性评估等任务中表现最优，Qwen2.5则擅长识别自然语言输入的任务类型。
中文摘要 AI 辅助
操作员在遥控水下航行器（ROV）作业中仍至关重要，但常面临态势感知能力低、工作负荷高的问题，二者均会对安全性产生负面影响。本文提出一种由本体（ontology）和多个大语言模型（LLMs）构成的认知架构，可在任务各阶段为操作员提供协助。每个LLM均以本体提供的领域特定信息为基础，并被赋予简单角色，从而构建出能在作业全阶段支持操作员的系统。我们旨在证明，将二者结合使用可使决策既基于相关领域知识，又能受益于LLM的推理能力。该框架可判断给定无人水下航行器（UUV）能否完成任务、执行任务规划，并在仿真环境中执行给定任务。操作员可参与规划与执行过程，确保生成的计划有效，且航行器在执行期间的行为安全。我们对比了Llama3、GPT-OSS和Qwen2.5三种不同的LLMs，以确定哪些模型最适合框架内的不同角色。研究发现，GPT-OSS在可行性评估、规划及执行任务中表现最佳，而Qwen2.5最适合从自然语言输入中识别任务类型。
英文摘要
Operators remain essential to Remotely Operated Vehicle (ROV) operation, yet often suffer from low situational awareness and high workload, both of which negatively affect safety. This paper presents a cognitive architecture consisting of an ontology and multiple Large Language Models (LLMs) to assist the operator at all stages of the mission. Each LLM is grounded with domain-specific information from the ontology and given a simple role to create a system that can support the operator at all stages of an operation. We are aiming to prove that using the two together will allow decisions to be grounded in the relevant domain knowledge, but also benefit from the reasoning capabilities of the LLM. Our framework determines if a mission is possible for a given Unmanned Underwater Vehicle (UUV), performs mission planning, and executes a given mission in simulation. The operator can be involved in planning and execution, ensuring the resulting plan is valid and that the vehicle behaves safely during execution. We compare different LLMs, Llama3, GPT-OSS, and Qwen2.5, to determine which are best suited to the different roles within our framework. We find that GPT-OSS performs best for feasibility assessment, planning, and execution, while Qwen2.5 is best suited to identifying mission types from natural language input.
发表机构
- School of Informatics, University of Edinburgh（爱丁堡大学信息学院）
- School of Engineering and Physical Sciences, Heriot-Watt University（赫瑞瓦特大学工程与物理科学学院）
机构由 AI 辅助整理，请以论文原文为准。
