The Strategic-Tactical-Execution Software Control Architecture (STESCA) is a tri-level approach to controlling autonomous vehicles. Using an object-oriented approach, STESCA has been developed as a generalization of the Rational Behavior Model (RBM). STESCA was initially implemented for the Phoenix Autonomous Underwater Vehicle (Naval Postgraduate School -- Monterey, CA), and is currently being implemented for the Pioneer AT land-based wheeled vehicle. The goals of STESCA are twofold. First is to create a generic framework to simplify the process of creating a software control architecture for autonomous vehicles of any type. Second is to allow for mission specification system by 'anyone' with minimal training to control the overall vehicle functionality. This paper describes the prototype implementation of STESCA for the Pioneer AT.


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    Title :

    Software control architecture for autonomous vehicles


    Contributors:

    Conference:

    Unmanned Ground Vehicle Technology ; 1999 ; Orlando,FL,USA


    Published in:

    Publication date :

    1999-07-22





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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