| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 723030 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
This paper presents the design and implementation of a Mission Control System (MCS) for an AUV. The mission is easily described using an imperative-like Mission Control Language named MCL, that allows for sequential/parallel, conditional/unconditional and iterative task execution. MCL can be automatically compiled into a Petri net, to formally describe the mission thread of execution. Then the MCS executes the Petri net in real-time over an architecture abstraction layer that communicates with a particular control architecture using a set of custom defined actions and events.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
