A hybrid systems theory framework for the design of a control architecture for multiple autonomous underwater vehicles

This paper describes the modeling, design and implementation of the generalized vehicle (GV) architecture for the coordinated control of multiple autonomous underwater vehicles in the framework of the hybrid systems theory. A generalized vehicle is a group of vehicles whose spatial and logic organization is controlled in such a way that the group behaves as a single entity. The hybrid systems formalism provides the most adequate framework for incorporating the discrete event and continuous dynamics that arise in the concurrent coordinated operation of multiple vehicles and fully encompasses the modeling, analysis, design and implementation cycle of the GV architecture. A micro-simulation environment of the coordinated operation of multiple AUVs was developed in SHIFT, a new specification language for describing networks of hybrid automata. The DIADEM software environment for implementing on-line, real-time automated management and control systems, is discussed in the context of the implementation of the GV concept