Mission control system for dam inspection with an AUV

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dc.contributor.author Palomeras Rovira, Narcís
dc.contributor.author Carreras Pérez, Marc
dc.contributor.author Ridao Rodríguez, Pere
dc.contributor.author Hernàndez Bes, Emili
dc.date.issued 2006
dc.identifier.citation Palomeras, N., Carreras, M., Ridao, P., i Hernandez, E. (2006). Mission control system for dam inspection with an AUV. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2006, 2551-2556. Recuperat 14 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4058773
dc.identifier.isbn 1-4244-0258-1
dc.identifier.uri http://hdl.handle.net/10256/2288
dc.description.abstract This paper presents a complete control architecture that has been designed to fulfill predefined missions with an autonomous underwater vehicle (AUV). The control architecture has three levels of control: mission level, task level and vehicle level. The novelty of the work resides in the mission level, which is built with a Petri network that defines the sequence of tasks that are executed depending on the unpredictable situations that may occur. The task control system is composed of a set of active behaviours and a coordinator that selects the most appropriate vehicle action at each moment. The paper focuses on the design of the mission controller and its interaction with the task controller. Simulations, inspired on an industrial underwater inspection of a dam grate, show the effectiveness of the control architecture
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.relation.isformatof Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2006.281705
dc.relation.ispartof © IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, p. 2551-2556
dc.relation.ispartofseries Articles publicats (D-ATC)
dc.rights Tots els drets reservats
dc.subject Robots -- Sistemes de control
dc.subject Robots -- Projectes i construcció
dc.subject Robots autònoms -- Sistemes de control
dc.subject Vehicles submergibles -- Sistemes de control
dc.subject Autonomous robots -- Control systems
dc.subject Robots -- Control systems
dc.subject Robots -- Design and construction
dc.subject Submersibles -- Control systems
dc.title Mission control system for dam inspection with an AUV
dc.type info:eu-repo/semantics/article
dc.identifier.doi http://dx.doi.org/10.1109/IROS.2006.281705


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