A modular approach to system integration in underwater robotics

Underwater exploration is experiencing an ever increasing usage of both autonomous and remotely operated robotic vehicles. Vehicles are typically equipped with several sensors depending on the mission type being carried out. Integration of all these systems together, as well as obtaining data from them presents a significant challenge. This article describes a software architecture which represents all entities in the system as equivalent modules, while hiding their specifics from the user. Each module in the system is fully defined only by the data it produces and the commands it accepts. Modules are coupled together using a communication interface which again hides the underlying protocol from the user, and is based solely on message exchange. This architecture allows quick reconfiguration of the vehicle, easy integration of various sensor systems and provides the application developers with a higher level of abstraction.