This paper presents the design and implementation of a MCS (Mission Control System) for an AUV (Autonomous Underwater Vehicle). The mission is easily described using an imperativelike MCL (Mission Control Language), that allows for sequential/parallel, conditional/unconditional and iterative task execution. MCL can be automatically compiled into a Petri net, to formally describe the mission thread of execution. Then the MCS executes the Petri net in real-time over an architecture abstraction layer that communicates with a particular control architecture using a set of custom defined actions and events


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    Title :

    MCL: A mission control language for AUVs


    Additional title:

    MCL: Eine Aufgabensteuerungssprache für autonome Unterwasserfahrzeuge


    Contributors:
    Palomeras, N. (author) / Ridao, P. (author) / Carreras, M. (author) / Batle, J. (author)


    Publication date :

    2007


    Size :

    6 Seiten, 5 Bilder, 9 Quellen


    Remarks:

    (nicht paginiert)


    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English





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