Control architectures for autonomous underwater vehicles

@article{Valavanis1997ControlAF,
  title={Control architectures for autonomous underwater vehicles},
  author={Kimon P. Valavanis and Denis Gra{\vc}anin and Maja Matijasevic and Ramesh Kolluru and Georgios A. Demetriou},
  journal={IEEE Control Systems Magazine},
  year={1997},
  volume={17},
  pages={48-64}
}
Autonomous underwater vehicles (AUVs) share common control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four types of control architectures being used for AUVs (hierarchical, heterarchical, subsumption, and… 
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