NDLI: A dynamically configurable architecture for the control of an autonomous underwater vehicle

Content Provider	IEEE Xplore Digital Library
Author	Borges Sousa, J. Lobo Pereira, F. Pereira da Silva, E.
Copyright Year	1994
Description	Author affiliation: Dept. de Engenharia Electrotecnica e de Computadores, Porto Univ., Portugal (Borges Sousa, J.; Lobo Pereira, F.)
Abstract	This paper presents a tri-level hierarchic control architecture for autonomous underwater vehicles (AUVs). This hierarchic structure is composed of three levels: organization, coordination and functional, structured according to the principle of increasing precision with decreasing intelligence. These levels are organized linguistically. The main contribution is the concept of dynamically configurable architecture where the notion of architecture coordinator plays a crucial role. This system dynamically configures the connections among modules of the functional layer and maintains the state of this configuration so that the most adequate translation of planned actions into execution commands takes place. These coordination features are also used to incorporate the emergence of reactive behaviors in this hierarchic architecture. The architecture structure has provisions to support multi-modal operator interfaces and for integration in complex operational systems governing the operation of multiple AUVs, divers and other sensors and actuators.
Starting Page	520
Ending Page	525
File Size	606776
Page Count	6
File Format	PDF
ISBN	0780321359
DOI	10.1109/IVS.1994.639572
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-10-24
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Underwater vehicles Intelligent sensors Control systems Computer architecture Artificial intelligence Machine intelligence Mobile robots Intelligent structures Sensor systems Multimodal sensors
Content Type	Text
Resource Type	Article

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