Keeping layered control simple [autonomous underwater vehicles]

The status of research on adapting layered control to fully autonomous underwater vehicles (AUVs) is described. Handling vehicle dynamics, communication between layers, sensor processing, mission configuration, resolving conflict between layers, and avoiding states in which the vehicle becomes trapped are studied. The complex nonlinear dynamics and large sensor processing requirements inherent in AUV applications have led to the modification of the traditional layered control approach. Of particular importance is the need to move closed-loop control and sensor processing outside the layered control architecture to reduce the memory and throughput requirements imposed on the main computer. The major research issues involved with making layered control less complex, reconfigurable, and suitable for underwater operations are considered