Autonomous systems monitoring and control (ASMAC) - an AUV fleet controller

Author

Mupparapu, Sai S. ; Chappell, Steven G. ; Komerska, Rick J. ; Blidberg, D. Richard ; Nitzel, Robert ; Benton, Charles ; Popa, Dan O. ; Sanderson, Arthur C.

Author_Institution

Autonomous Undersea Syst. Inst., Lee, NH, USA

fYear

2004

fDate

17-18 June 2004

Firstpage

119

Lastpage

126

Abstract

Monitoring and controlling multiple autonomous underwater vehicles (AUVs) can quickly become cumbersome, especially when dealing with missions extending over multiple days and when dealing with heterogeneous vehicles. The goal of ASMAC is to simplify this process so that it is easier for a user to monitor and control heterogeneous vehicles. ASMAC would achieve this through the use of a common control language (CCL) that provides a common interface to heterogeneous systems and interactive planning models to help the user in the mission planning phase. ASMAC would also interface to the cooperative AUV development concept (CADCON) simulation environment to help the user verify mission plans.

Keywords

computerised monitoring; control engineering computing; mobile robots; multi-robot systems; underwater vehicles; AUV fleet control; autonomous systems monitoring and control; common control language; cooperative AUV development concept; heterogeneous vehicles; interactive planning model; Aggregates; Application software; Control systems; Displays; Mobile robots; Monitoring; Remotely operated vehicles; System performance; Underwater vehicles; Vocabulary;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicles, 2004 IEEE/OES

Print_ISBN

0-7803-8543-8

Type

conf

DOI

10.1109/AUV.2004.1431202

Filename

1431202