Control architectures for autonomous underwater vehicles

  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},
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… 
Discrete hierarchical supervisory control for autonomous underwater vehicle
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  • Engineering, Computer Science
    2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)
  • 2010
Simulation proved that the proposed control algorithm and AUV platform work well and the distributed architecture and algorithm included in this paper includes the distributed Architecture and algorithm.
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An infrastructure of autonomous teleoperation platform for AUV is established and described, which allows control to be shared between the intelligent decision system in AUV system and operators throughout a mission, and a simulation platform to support a tuning mechanism of control parameters during runtime is developed.
Development of a system architecture for an advanced autonomous underwater vehicle, ORCA
A new control system architecture is proposed for AUV, ORCA (Oceanic Reinforced Cruising Agent), being currently developed by Korea Research Institute of Ships and Ocean Engineering (KRISO), that uses a hybrid architecture that combines a hierarchical architecture and a behavior based control architecture with an evaluator for coordinating between the architectures.
Open Control Platform Implementation for Autonomous Underwater Vehicle
The simulation example shows that Matlab and CORBA (common object request broker architecture) event-channel coexistence simulation open a possibility the real-time control system performance, and it could be reconfigured easily both in semi-automatically or manually interventions by remote station.
Distributed Frameworks in Control and Navigation of Small Underwater Vehicles
The architecture used for low-level control is described and its performance in the MOOS and ROS distributed frameworks is analyzed.
Research on the decentralized supervisory control of autonomous underwater vehicle
In order to independently complete some situation-adapted missions in unknown undersea environment, higher-level decision techniques are needed to provide an autonomous underwater vehicle (AUV) with
Control architecture and operator interface for a free-flying robotic vehicle
The Ranger Neutral Buoyancy Vehicle (RNBV) exemplifies the high-dimensional, computationally intensive nature of the current fleet of autonomous underwater vehicles while its complement of four manipulators exceeds the capabilities of most remotely operated vehicles in service today.


Architecture of the Texas A&M Autonomous Underwater Vehicle Controller
Presents the software and hardware architectures of the autonomous underwater vehicle controller (AUVC) developed at Texas A&M University. It is a controller for a long range, highly reliable UUV.
An approach to intelligent distributed control for autonomous underwater vehicles
  • S. Smith
  • Computer Science
    Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)
  • 1994
The application of a local operating network protocol called LONTalk to a distributed control system for the Ocean Voyager II AUV is presented. A detailed description is given of the OVII's
A pragmatic software architecture for UUVs
The software control architecture used at Florida Atlantic University for the autonomous underwater vehicles, Ocean Voyager II, and Ocean Explorer series is described, which is very flexible, easy to understand, yet powerful enough to support the development of software for real-time autonomous robotic systems.
An intelligent assembly robotic system based on Relative Pose measurements
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A robust layered control system for a mobile robot
  • R. Brooks
  • Computer Science
    IEEE J. Robotics Autom.
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A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
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The Swiss ADS 95 Ranger UAV System Unmanned Systems
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