ICRA 2011 Paper Abstract

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Paper TuP211.6

Lin, Changlong (Shenyang Institute of Automation, Chinese Academy of Sciences), Feng, Xisheng (Shenyang Institute of Automation), Li, Yiping (Shenyang Institute of Automation), Liu, Kaizhou (Shenyang Institute of Automation)

Toward a Generalized Architecture for Unmanned Underwater Vehicles

Scheduled for presentation during the Regular Sessions "Marine and Underwater Robotics II" (TuP211), Tuesday, May 10, 2011, 16:40−16:55, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Control Architectures and Programming, Marine Robotics, Reactive and Sensor-Based Planning

Abstract

A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. We first detail the autonomic element, which is the fundamental unit of the architecture. Then the architecture is constructed, and thorough discussions are given. Finally, simulations on a semi-physical platform are carried out to examine the performance of this architecture.

 

 

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