Hybrid-model based hierarchical mission control architecture for autonomous underwater vehicles

S. Tangirala, R. Kumar, S. Bhattacharyya, M. O'Connor, L. E. Holloway

Research output: Contribution to journalConference articlepeer-review

18 Scopus citations

Abstract

We present a hybrid, hierarchical architecture for mission control of autonomous underwater vehicles (AUVs). The architecture is model based and is designed with semi-automatic verification of safety and performance specifications as a primary capability in addition to the usual requirements such as real-time constraints, scheduling, shared-data integrity, etc. The architecture is realized using a commercially available graphical hybrid systems design and code generation tool. While the tool facilitates rapid redesign and deployment, it is crucial to include safety and performance verification into each step of the (re)design process. A formal model of the interacting hybrid automata in the design tool is outlined, and a tool is presented to automatically convert hybrid automata descriptions from the design tool into a format required by two hybrid verification tools. The application of this mission control architecture to a survey AUV is described and the procedures for verification outlined.

Original languageEnglish
Article numberWeB04.3
Pages (from-to)668-673
Number of pages6
JournalProceedings of the American Control Conference
Volume1
StatePublished - 2005
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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