Controls: Mission planning

[stanley-wei]

Look into common strategies for implementing mission planning in AUVs. This can be both AUVs in the wild, or AUVs made by other RoboSub teams specifically. If there are multiple strategies, evaluate relative pros and cons.

Later in the process, once a few potential strategies have been identified, look into implementations, particularly implementations in ROS2.

I made a document with a few initial resources; please add any findings, links, etc. as you go.

Some potential places you might want to look:

• Past technical reports from other RoboSub teams
• Textbooks and/or literature reviews on mission planning in AUVs
• GitHub repositories relating to mission planning in AUVs.
• Any ROS (preferably ROS2) resources relating to mission planning in AUVs.
• Any general resources relating to mission planning (not necessarily in AUVs).

[stanley-wei]

One potential mission planner to look into could be behavior trees - I've seen at least one other RoboSub team mention they used a behavior tree in their technical report, and the ROS Navigation2 stack appears to support behavior trees.