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Using petri nets to specify and execute missions for autonomous underwater vehicles

This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented

© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 2009, p. 4439-4444

IEEE

Autor: Palomeras Rovira, Narcís
Ridao Rodríguez, Pere
Carreras Pérez, Marc
Silvestre, Carlos Jorge Ferreira
Data: 2009
Resum: This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented
Format: application/pdf
Cita: Palomeras, N., Ridao, P., Carreras, M., i Silvestre, C. (2009). Using petri nets to specify and execute missions for autonomous underwater vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 4439-4444. Recuperat 14 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5354045
ISBN: 978-1-4244-3803-7
Accés al document: http://hdl.handle.net/10256/2290
Llenguatge: eng
Editor: IEEE
Col·lecció: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2009.5354045
Articles publicats (D-ATC)
És part de: © IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 2009, p. 4439-4444
Drets: Tots els drets reservats
Matèria: Petri, Xarxes de
Robots -- Sistemes de control
Robots -- Projectes i construcció
Robots autònoms -- Sistemes de control
Vehicles submergibles -- Sistemes de control
Petri nets
Robots -- Control systems
Robots -- Design and construction
Submersibles -- Control systems
Títol: Using petri nets to specify and execute missions for autonomous underwater vehicles
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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