This paper presents the design and implementation of a MCS (Mission Control System) for an AUV (Autonomous Underwater Vehicle). The mission is easily described using an imperativelike MCL (Mission Control Language), that allows for sequential/parallel, conditional/unconditional and iterative task execution. MCL can be automatically compiled into a Petri net, to formally describe the mission thread of execution. Then the MCS executes the Petri net in real-time over an architecture abstraction layer that communicates with a particular control architecture using a set of custom defined actions and events
MCL: A mission control language for AUVs
MCL: Eine Aufgabensteuerungssprache für autonome Unterwasserfahrzeuge
2007
6 Seiten, 5 Bilder, 9 Quellen
(nicht paginiert)
Conference paper
Storage medium
English
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