Multiple agents architecture for intelligent command and control system of AUVs : application to the MARIUS vehicle

This paper addresses the problem of intelligent command and control systems for AUVs. It presents a conceptual multiple agents based architecture proposed for the MARIUS prototype vehicle (devoted to coastal survey missions). The paper presents the characteristics of the vehicle system and a synthesis of the functional requirements to be fulfilled; it describes the proposed multiagents architecture for the onboard mission management system, with details on architecture, functionalities and communications capabilities of the agents It describes the mapping of the functional decomposition of the RIMS on this multiple agents architecture