NDLI: An experimental comparison of hierarchical and subsumption software architectures for control of an autonomous underwater vehicle

Content Provider	IEEE Xplore Digital Library
Author	Byrnes, R.B. MacPherson, D.L. Kwak, S.H. McGhee, R.B. Nelson, M.L.
Copyright Year	1992
Description	Author affiliation: Dept. of Comput. Sci., US Naval Postgraduate Sch., Monterey, CA, USA (Byrnes, R.B.; MacPherson, D.L.; Kwak, S.H.; McGhee, R.B.; Nelson, M.L.)
Abstract	A three-level hybrid architecture is used to model both a hierarchical and a subsumption controller for an autonomous underwater vehicle (AUV). The hierarchical model uses a backward chaining language (PROLOG) while the subsumption model uses a forward chaining language (CLIPS). The details of the backward chaining hierarchical implementation of the strategic level of mission control are first presented. This is followed by a similar description of the functionally equivalent subsumption controller. Experimental results and the advantages and disadvantages of each approach are discussed. CLIPS and PROLOG ran virtually even in terms of execution time. Also, the total run time of the experiment was dominated by the graphical simulator. A repeat of the experiment in which the controllers were decoupled from the simulator resulted in execution times between three and four seconds. This reinforces the view of PROLOG and CLIPS as viable language alternatives for the mission control of complex systems. However, PROLOG is the more concise of the two languages and is easier to read.<>
Starting Page	135
Ending Page	141
File Size	779881
Page Count	7
File Format	PDF
ISBN	0780307046
DOI	10.1109/AUV.1992.225182
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-06-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer architecture Remotely operated vehicles Control systems Underwater vehicles System testing Mobile robots Computer science Software design Educational institutions Automata
Content Type	Text
Resource Type	Article

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