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On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2000 : (IROS 2000) : Proceedings, 2000, vol. 2, p. 855-860

IEEE

Author: Ridao Rodríguez, Pere
Yuh, Junku
Batlle i Grabulosa, Joan
Sugihara, K.
Date: 2000
Abstract: This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment
Format: application/pdf
Citation: Ridao, P., Yuh, J., Batlle, J., i Sugihara, K. (2000). On AUV control architecture. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2000 : (IROS 2000) : Proceedings, 2, 855-860. Recuperat 31 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=893126
ISBN: 0-7803-6348-5
Document access: http://hdl.handle.net/10256/2447
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2000.893126
Articles publicats (D-ATC)
Is part of: © IEEE/RSJ International Conference on Intelligent Robots and Systems : 2000 : (IROS 2000) : Proceedings, 2000, vol. 2, p. 855-860
Rights: Tots els drets reservats
Subject: Robots mòbils
Vehicles submergibles -- Sistemes de control
Robots submarins
Mobile robots
Submersibles -- Control systems
Underwater robots
Title: On AUV control architecture
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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