Publication Detail

Task Configuration with Layered Control

James G Bellingham, John Leonard
10 pp.
MITSG 94-24J
$2.00 + 1.50 (domestic) or 3.50 (foreign) postage and handling. DOM

A variant of layered control designed for ease of task configuration has been developed. Intended to be used as the middle level of a three-level architecture such as state- configured layered control, the approach embodies a number of features designed to facilitate configuration of the vehicle software to achieve specific tasks. Examples include moving the vehicle to a defined location or executing a survey grid. While not intended to provide the entire mission planning level for a vehicle, it can provide that function. Implemented on the "Odyssey II" autonomous underwater vehicle, it has been used as the mission planner for under-ice vehicle operations in Lake Winnipesaukee and in the Arctic.

type: Technical reports

Parent Project

Project No.: 1990-RU-20-MCII
Title: Focused Research II: Autonomous Underwater Vehicles: Basic Technologies

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