ESP | CAT | ENG

A new method to build a mission control system for autonomous underwater vehicles


The researcher Narcís Palomeras has focused his doctoral thesis on designing and developing a formal method to build a mission control system for autonomous underwater vehicles, which provides systematic design principles for the formal description of missions.

Researcher at the University of Girona Narcís Palomeras has focused his research on designing and developing a formal method to build a mission control system for autonomous underwater vehicles, which provides systematic design principles for the formal description of missions. This research is shown in a doctoral thesis directed by Dr. Peter Ridao Rodriguez and Dr. Carlos Jorge Ferreira and entitled “A Mission Control System for an Autonomous Underwater Vehicle”.


The proposed methodology is based on elementary building blocks, described by means of Petri nets. The composition of these blocks together generates a mission plan by which various properties such as accessibility and reusability are always guaranteed as long as those properties are also guaranteed for each of the elementary building blocks.


High-level language

In order to simplify the definition of these blocks, as well as to simplify its composition, a high-level language called “Mission Control Language” has been developed. In addition, a methodology has been included to ensure the coordination restrictions among teams of multiple robots. Also an interface has been established between the proposed system and a planner on board the vehicle which is capable of planning/ rescheduling sequences of previously defined mission plans.

So as to show the capabilities of the system, results of experiments with several real underwater vehicles have been presented, as well as simulations with autonomous underwater and surface vehicles.


Puntuación
1 Star2 Stars3 Stars4 Stars5 Stars
no hay comentarios Síguenos en facebook y en twitter

Proyecto financiado por el Ministerio de Educación, Cultura y Deporte en el marco del Programa Campus de Excelencia Internacional

Universitat de les Illes Balears ⋅ Ctra. de Valldemossa, km 7.5 ⋅ Palma ⋅ 07122 Illes Balears ⋅ Tel: +34 971 173 000
Universitat de Girona - Campus e-MTA ⋅ Parc Científic i Tecnològic, Edifici Casademont ⋅ C. Pic de Peguera, 15, ⋅ 17003 Girona Tel. 972 419 678
CSIC. Serrano, 117 ⋅ 28006 Madrid ⋅ Tel: +34 914 113 077
Institut Català de Recerca de l’Aigua (ICRA)Edifici H2O - Parc Científic i Tecnològic de la Universitat de Girona. Emili Grahit 101- 17003 Girona

2012 © e-MTA Campus Euromediterráneo del Turismo y el Agua AVISO LEGAL| MAPA WEB
iglesiesassociats