DocumentCode
2085149
Title
A control architecture for contextual tasks management: application to the AUV Taipan
Author
El Jalaoui, A. ; Andreu, D. ; Jouvencel, B.
Author_Institution
LIRMM, Montepllier II Univ., France
Volume
2
fYear
2005
fDate
20-23 June 2005
Firstpage
752
Abstract
A new method for control architectures design of underwater robots is presented. The approach proposed tries to meet aims related to the design of software controller for embedded real time system namely: modularity, evolutionarity and robustness. This control architecture, applied to the AUV Taipan, is presented.
Keywords
computerised control; control engineering computing; control system synthesis; mobile robots; oceanographic equipment; oceanographic techniques; real-time systems; remotely operated vehicles; robust control; underwater vehicles; AUV Taipan; autonomous underwater vehicle; contextual tasks management; control architecture design; embedded real time system; evolutionarity; modularity; robustness; software controller; underwater robots; Computer architecture; Control systems; Embedded software; Inspection; Pipelines; Real time systems; Robots; Robust control; Software design; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Oceans 2005 - Europe
Conference_Location
Brest, France
Print_ISBN
0-7803-9103-9
Type
conf
DOI
10.1109/OCEANSE.2005.1513150
Filename
1513150
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