| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 720055 | IFAC Proceedings Volumes | 2010 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
