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The use of Remotely Operated Vehicles (ROVs) is ultimately limited by economic support costs, and the presence and skills of the human operator. Autonomous surface and underwater vehicles have the potential to operate with greatly reduced overhead costs and level of operator intervention. This paper proposes an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles...
This paper presents “Huxley,” a production robot control architecture that was developed by Bluefin Robotics for its fleet of autonomous underwater vehicles (AUVs). Huxley was designed with flexibility foremost in mind, allowing it to be easily adapted and reliably deployed on a wide range of platforms. The architecture follows a layered paradigm, providing a clean and logical abstraction for the...
The classical engineering fields have evolved standards and techniques for developing complex systems. For example, both mechanical and electrical engineers have a wide variety of standard components, with defined capabilities, that they can draw upon (e.g., gears, transistors) in the design of complex systems. On the other hand, software engineering has struggled with the basic idea of reusability...
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