On AUV control architecture
dc.contributor.author
dc.date.accessioned
2010-05-31T11:13:29Z
dc.date.available
2010-05-03T15:15:46Z
2010-05-31T11:13:29Z
dc.date.issued
2000
dc.identifier.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
dc.identifier.isbn
0-7803-6348-5
dc.identifier.uri
dc.description.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
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.2000.893126
dc.relation.ispartof
© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2000 : (IROS 2000) : Proceedings, 2000, vol. 2, p. 855-860
dc.relation.ispartofseries
Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
On AUV control architecture
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi