Control architectures for autonomous underwater vehicles

Valavanis, KP; Gracanin, D; Matijasevic, M; Kolluru, R; Demetriou, GA

dc.contributor.author	Valavanis, KP	en
dc.contributor.author	Gracanin, D	en
dc.contributor.author	Matijasevic, M	en
dc.contributor.author	Kolluru, R	en
dc.contributor.author	Demetriou, GA	en
dc.date.accessioned	2014-03-01T01:45:55Z
dc.date.available	2014-03-01T01:45:55Z
dc.date.issued	1997	en
dc.identifier.issn	02721708	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/24787
dc.subject.other	Artificial intelligence	en
dc.subject.other	Constraint theory	en
dc.subject.other	Control systems	en
dc.subject.other	Hierarchical systems	en
dc.subject.other	Remote control	en
dc.subject.other	Robotics	en
dc.subject.other	Submarines	en
dc.subject.other	Unmanned underwater vehicles	en
dc.subject.other	Vehicles	en
dc.title	Control architectures for autonomous underwater vehicles	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/37.642974	en
heal.identifier.secondary	http://dx.doi.org/10.1109/37.642974	en
heal.publicationDate	1997	en
heal.abstract	Autonomous Underwater Vehicles (AUVs) share common control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four types of control architectures being used for AUVs (hierarchical, heterarchical, subsumption, and hybrid architecture) are reviewed. A summary of 25 existing AUVs and a review of 11 AUV control architecture systems present a flavor of the state of the art in AUV technology. A new sensor-based embedded AUV control system architecture is also described and its implementation is discussed.	en
heal.journalName	IEEE Control Systems Magazine	en
dc.identifier.doi	10.1109/37.642974	en
dc.identifier.volume	17	en
dc.identifier.issue	6	en
dc.identifier.spage	48	en
dc.identifier.epage	64	en