Towards a Deliberative Mission Control System for an AUV

In this paper it is investigated how to introduce onboard planning capabilities onto a reactive control architecture. Our proposal includes a reactive layer composed by several vehicle primitives, a safe control execution layer based on Petri nets and a deliberative layer combining a planner and a world modeler. A case with practical applicability is studied to illustrate the viability of the whole system and its possible application to the Ictineu AUV.