A Simulation Platform for AUV Fault Recovery: Exploring LLM-Based Diagnostic Strategies
[Robotyka] Autorzy: Khalid Halba, Kylie Cooper, James G. Bellingham
Autonomous underwater vehicles (AUVs) operating beyond reliable communications must recover from failures without human intervention. We investigate an architecture in which conventional deterministic layered control autonomy manages normal operations, while an invokable large language model (LLM) serves as a diagnostic and recovery planner when onboard anomaly detection identifies performance outside expected limits. Because language models are stochastic, rigorous evaluation requires ensemble testing rather than individual demonstrations. We present a closed-loop simulation architecture that couples real-time C vehicle software with a higher-level orchestration layer for physics-based fault injection, structured prompting, language-model interaction, mission file generation, validation, execution, and LLM-judge scoring. The framework, which we call SPAR (Simulation Platform for AUV Re…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka