VORTEX-PILOT: a top-down approach for AUVs mission telerobotics language

This paper presents the complete high level control architecture with real time mission/task/sensor-based algorithms and operator interface language, useful to prepare the next generation of AUV and ROV mission programming, developed and tested on the VORTEX (Versatile and Open subsea Robot for Technical Experiments) at IFREMER Subsea Robotics Lab with INRIA (French institute for computer science and Automation) and UBO-LIMI Lab (University of Brest Fr). In this global architecture we focus highly on the PILOT online, interpreted, high level telerobotics language for mission programming and supervision. A top-down approach, conducted between IFREMER and the LIMI-UBO Lab, focuses on the development of an interpreted language for mission supervisory management and specification. This language, PILOT (Programming and Interpreted Language Of actions for Telerobotics), is a visual, imperative, interpreted and high level language. Its primitives take into account the operator interventions and the external events