Animation/simulation of missions for autonomous underwater vehicles with hybrid-model based

The paper describes a hierarchical architecture in which mission level controllers based on hybrid systems theory have been, and are being developed using a hybrid systems design tool that allows graphical design, iterative redesign, and code generation for rapid deployment onto the target platform. The goal is to support current and future autonomous underwater vehicle (AUV) programs to meet evolving requirements and capabilities. While the tool facilitates rapid redesign and deployment, it is beneficial to animate/simulate the execution of missions. To this end a basic converter has been developed to convert the mission controller modules to OpenGL code which animates the execution of missions