A mission control system for an autonomous underwater vehicle

• Autores: Narcís Palomeras Rovira
• Directores de la Tesis: Carlos Jorge Ferreira Silvestre (dir. tes.), Pere Ridao Rodríguez (dir. tes.)
• Lectura: En la Universitat de Girona ( España ) en 2011
• Idioma: inglés
• Tribunal Calificador de la Tesis: Pedro José Sanz Valero (presid.), Marc Carreras Pérez (secret.), Silvia Maria Zanoli (voc.), Massimo Caccia (voc.), Yvan Petillot (voc.)
• Enlaces
  • Tesis en acceso abierto en: TDX
• Resumen

  • The presented work focuses on the theoretical and practical aspects concerning the design and development of a formal method to build a mission control system for autonomous underwater vehicles bringing systematic design principles for the formal description of missions using Petri nets. The proposed methodology compounds Petri net building blocks within it to de_ne a mission plan for which it is proved that formal properties, such as reachability and reusability, hold as long as these same properties are also guaranteed by each Petri net building block. To simplify the de_nition of these Petri net blocks as well as their composition, a high level language called Mission Control Language has been developed. Moreover, a methodology to ensure coordination constraints for teams of multiple robots as well as the de_nition of an interface between the proposed system and an on-board planner able to plan/replan sequences of prede_ned mission plans is included as well. Results of experiments with several real underwater vehicles and simulations involving an autonomous surface craft and an autonomous underwater vehicles are presented to show the system's capabilities.