Automated Coordinator Synthesis for Mission Control of Autonomous Underwater Vehicles

In our past work we have developed a hierarchical hybrid-model based mission control approach for autonomous underwater vehicles. The approach is aided by tools that allow 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. The hierarchical architecture contains mission controllers at each level which coordinate with other controllers, the vehicle, and the user for the successful execution of a mission. Here we propose an approach for automated synthesis of such controllers, and illustrate by applying the algorithm for automated synthesis of the highest-level coordinators.