Low level architecture for the new eave vehicle

KB/EAVE (Knowledge-Based/Experimental Autonomous Vehicle) is a third generation autonomous untethered submersible utilizing state-of-the-art processors, operating systems, sensors, and artifical intelligence concepts. Two such vehicles have been designed and fabricated and are currently undergoing laboratory and field tests (Figure 1). They have the capability to communicate and cooperate with each other as well as plan and replan their missions in real time if circumstances and events so dictate. The KB/EAVE vehicle architecture can be divided into two components called high level and low level (Figure 2). The high level architecture described in "A Blackboard Based System for Context Mission Planning in An Autonomous Vehicle" by S. Chappell in these proceedings includes: Data Assessment, Situation Assessment, Supervisor and Guidance. The low level architecture includes Effector Manager, Sensor Manager, and System Monitor. This paper will describe the low level architecture, the interaction between the high level and low level architecture, as well as a description of vehicle capabilities.