A distributed architecture for enabling autonomous underwater intervention missions
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Altres documents de l'autoria: Palomeras, Narcís; García Sánchez, Juan Carlos; Prats Sánchez, Mario; Sanz, Pedro J; Ridao, Pere; Fernández Fresneda, José Javier
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http://dx.doi.org/10.1109/SYSTEMS.2010.5482349 |
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Títol
A distributed architecture for enabling autonomous underwater intervention missionsAutoria
Data de publicació
2010Editor
IEEEISBN
978-1-4244-5882-0Tipus de document
info:eu-repo/semantics/conferenceObjectVersió de l'editorial
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5482349&isnumber=5482314Paraules clau / Matèries
Resum
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 ... [+]
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. [-]
Proyecto de investigación
info:eu-repo/grantAgreement/EC/FP7/248497Drets d'accés
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