Mission Control System for an Autonomous Vehicle: Application Study of a Dam Inspection using an AUV

Although there is literature about dam inspections tasks using ROVs, non of them provides an integral solution for this issue. This paper presents the software architecture and the Mission Control System (MCS) used in ICTINEUAUV, a small autonomous vehicle able to perform this kind of inspection missions. A definition about the used AUV, how the mission is described and programmed and the obtained results are discussed.