A modular and scalable control architecture for navigation of autonomous underwater vehicles

In the present paper, a hybrid architecture based on multi-agent systems is proposed, where it is included a module for formal evaluation. This module, allows the processes verification involved in the level/layer/environment steps. It is also developed a methodology for trajectory tracking based on the generation of a reliable virtual space, on which the navigation takes place under operative conditions (safety and effectiveness). Time processing operations reduction is expected during the inspection.