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A distributed architecture for enabling autonomous underwater intervention missions
dc.contributor.author | Palomeras, Narcís | |
dc.contributor.author | García Sánchez, Juan Carlos | |
dc.contributor.author | Prats Sánchez, Mario | |
dc.contributor.author | Sanz, Pedro J | |
dc.contributor.author | Ridao, Pere | |
dc.contributor.author | Fernández Fresneda, José Javier | |
dc.date.accessioned | 2011-07-25T11:04:43Z | |
dc.date.available | 2011-07-25T11:04:43Z | |
dc.date.issued | 2010 | |
dc.identifier | http://dx.doi.org/10.1109/SYSTEMS.2010.5482349 | |
dc.identifier.isbn | 978-1-4244-5882-0 | |
dc.identifier.uri | http://hdl.handle.net/10234/26044 | |
dc.description.abstract | This work introduces the main aspects related with a new architecture defined for an ongoing research project named RAUVI (i.e. Reconfigurable AUV for Intervention Missions). Two initially independent architectures for the underwater vehicle and the robotic arm have been combined into a new schema that allows for reactive and deliberative behaviours on both subsystems. Reactive actions are performed through a low-level control layer in communication with the robot hardware via an abstraction interface. On the other hand, the intervention mission is supervised at a high-level by a Mission Control System (MCS), implemented using the Petri net formalism. Both, the arm and vehicle perception and control modules communicate with the MCS by means of actions and events. They also share a centralized database where some sensor data is stored. The proposed architecture allows for the supervised execution of intervention missions requiring a tight coordination between the vehicle and the manipulator. | |
dc.description.sponsorShip | This research was partly supported by the European Commission’s Seventh Framework Programme FP7/2007- 2013 under grant agreement 248497(TRIDENT Project), by Ministerio de Ciencia e Innovación (DPI2008-06548-C03), and by Fundació Caixa Castelló-Bancaixa (P1-1B2009-50). | |
dc.language.iso | eng | |
dc.publisher | IEEE | |
dc.rights | © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works | |
dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | * |
dc.source | Systems Conference, 2010 4th Annual IEEE, 5-8 April 2010, pp. 159-164 | |
dc.subject | Distributed Architectures | |
dc.subject | Behaviour Robotics | |
dc.subject | Autonomous Underwater Vehicle for Intervention (I-AUV) | |
dc.title | A distributed architecture for enabling autonomous underwater intervention missions | |
dc.type | info:eu-repo/semantics/conferenceObject | |
dc.identifier.doi | http://dx.doi.org/10.1109/SYSTEMS.2010.5482349 | |
dc.relation.projectID | info:eu-repo/grantAgreement/EC/FP7/248497 | |
dc.rights.accessRights | info:eu-repo/semantics/restrictedAccess | |
dc.relation.publisherVersion | http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5482349&isnumber=5482314 |
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