Implementation of a control architecture for networked vehicle systems

• Type: Article in International Conference Proceedings Book
• Date: 2012

Authors

José Queirós Pinto (Author) FEUP; Calado, P (Author) Other; Braga, J (Author) Other; Paulo Sousa Dias (Author) FEUP; Martins, R (Author) Other; Eduardo Marques (Author) FEUP; João Tasso Sousa (Author) FEUP

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 100-105

3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012

Porto, 10 April 2012 through 12 April 2012

Indexing

Scopus - 36 Citations

Other information

Authenticus ID: P-008-CA3

DOI: 10.3182/20120410-3-pt-4028.00018

Abstract (EN): This paper describes the layered control architecture and its software implementation developed and used at the Underwater Systems and Technology Laboratory. The architecture is implemented as a toolchain which consists on three main entities: DUNE onboard software, Neptus command and control software and a common IMC message-based communication protocol. The LSTS software toolchain has been tested throughout various field deployments where it was used to control heterogeneous autonomous vehicles like AUVs, ASVs, UAVs and ROVs in both single and multi-vehicle operations.

Language: English

Type (Professor's evaluation): Scientific