Item
|
Palomeras Rovira, NarcÃs
Ridao RodrÃguez, Pere Carreras Pérez, Marc Silvestre, Carlos Jorge Ferreira |
|
| 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 | |
| http://hdl.handle.net/2072/58673 | |
| eng | |
| IEEE | |
| Tots els drets reservats | |
|
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 |
|
| Using petri nets to specify and execute missions for autonomous underwater vehicles | |
| info:eu-repo/semantics/article | |
| Recercat |
