Implementing a layered control architecture on an open framed AUV

Sean Nolan; Levente Molnar; Daniel Toal; Colin Flanagan

doi:10.1016/S1474-6670(17)36658-2

Implementing a layered control architecture on an open framed AUV

Sean Nolan, Levente Molnar, Daniel Toal, Colin Flanagan

Department of Electronics & Computer Engineering

University of Limerick

Research output: Contribution to journal › Conference article › peer-review

Abstract

Tethra is a prototype AUV, designed at the University of Limerick to carry out research in underwater robotics and control. The vehicle adopts a behaviour based control paradigm. In this paper we report on the design and development of the Tethra test platform, it's low-level control functionality and how this low-level control functionality is incorporated within the robot controller. The functioning test platform is being used in ongoing research into controller development, investigating classical and neural network approaches. The vehicle is also being used for further behaviour based control development.

Original language	English
Pages (from-to)	61-66
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	36
Issue number	4
DOIs	https://doi.org/10.1016/S1474-6670(17)36658-2
Publication status	Published - 2003
Event	1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV 2003 - Newport, United Kingdom Duration: 9 Apr 2003 → 11 Apr 2003

Keywords

Autonomous underwater vehicle
Low level control functionality

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10.1016/S1474-6670(17)36658-2

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title = "Implementing a layered control architecture on an open framed AUV",

abstract = "Tethra is a prototype AUV, designed at the University of Limerick to carry out research in underwater robotics and control. The vehicle adopts a behaviour based control paradigm. In this paper we report on the design and development of the Tethra test platform, it's low-level control functionality and how this low-level control functionality is incorporated within the robot controller. The functioning test platform is being used in ongoing research into controller development, investigating classical and neural network approaches. The vehicle is also being used for further behaviour based control development.",

keywords = "Autonomous underwater vehicle, Low level control functionality",

author = "Sean Nolan and Levente Molnar and Daniel Toal and Colin Flanagan",

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AU - Nolan, Sean

AU - Molnar, Levente

AU - Toal, Daniel

AU - Flanagan, Colin

PY - 2003

Y1 - 2003

N2 - Tethra is a prototype AUV, designed at the University of Limerick to carry out research in underwater robotics and control. The vehicle adopts a behaviour based control paradigm. In this paper we report on the design and development of the Tethra test platform, it's low-level control functionality and how this low-level control functionality is incorporated within the robot controller. The functioning test platform is being used in ongoing research into controller development, investigating classical and neural network approaches. The vehicle is also being used for further behaviour based control development.

AB - Tethra is a prototype AUV, designed at the University of Limerick to carry out research in underwater robotics and control. The vehicle adopts a behaviour based control paradigm. In this paper we report on the design and development of the Tethra test platform, it's low-level control functionality and how this low-level control functionality is incorporated within the robot controller. The functioning test platform is being used in ongoing research into controller development, investigating classical and neural network approaches. The vehicle is also being used for further behaviour based control development.

KW - Autonomous underwater vehicle

KW - Low level control functionality

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U2 - 10.1016/S1474-6670(17)36658-2

DO - 10.1016/S1474-6670(17)36658-2

M3 - Conference article

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VL - 36

SP - 61

EP - 66

JO - IFAC Proceedings Volumes (IFAC-PapersOnline)

JF - IFAC Proceedings Volumes (IFAC-PapersOnline)

IS - 4

T2 - 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV 2003

Y2 - 9 April 2003 through 11 April 2003

ER -

Implementing a layered control architecture on an open framed AUV

Abstract

Keywords

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