Publication Detail

Using Layered Control for Supervisory Control of Underwater Vehicles.

James G Bellingham, Douglas E. Humphrey
7 pp.
MITSG 91-09J

Layered control, also known as subsumption architecture, offers a powerful platform for supervisory control of underwater vehicles; it was originally developed for fully autonomous land robots, and has been implemented on the MIT "Sea Squirt" underwater vehicle. This paper describes several levels of implementation of supervisory control within the layered control architecture. Layered control can be used to achieve high-level control, which is especially useful for situations in which communication between the user and the vehicle is limited by low bandwidth.

type: Technical reports

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