A hybrid control architecture development for the guidance, navigation and control of the tethra prototype submersible vehicle

[1]  David Wettergreen,et al.  Autonomous Guidance and Control for an Underwater Robotic Vehicle , 1999 .

[2]  Pere Ridao,et al.  Testing the control architecture of a visually guided underwater cable tracker by using a UUV prototype , 2004 .

[3]  Joan Batlle,et al.  A NEW HYBRID CONTROL ARCHITECTURE FOR A LOW COST AUV , 2001 .

[4]  Jean J. Labrosse.  Microc/OS-II , 1998 .

[5]  T.I. Fossen,et al.  Guidance-based path following for autonomous underwater vehicles , 2005, Proceedings of OCEANS 2005 MTS/IEEE.

[6]  Massimo Caccia,et al.  Guidance of unmanned underwater vehicles: experimental results , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[7]  V. Kanakakis,et al.  Fuzzy-Logic Based Navigation of Underwater Vehicles , 2004, J. Intell. Robotic Syst..

[8]  Zoran Vukic,et al.  A fuzzy track-keeping autopilot for ship steering , 2003 .

[9]  Louis L. Whitcomb,et al.  Underwater robotics: out of the research laboratory and into the field , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[10]  Michael L. Nelson,et al.  An experimental comparison of hierarchical and subsumption software architectures for control of an autonomous underwater vehicle , 1992, Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology.

[11]  Marc Carreras,et al.  O2CA2, a new object oriented control architecture for autonomy: the reactive layer , 2002 .

[12]  Dong-Soo Kwon,et al.  Mobile robots at your fingertip: Bezier curve on-line trajectory generation for supervisory control , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[13]  Stefan B. Williams,et al.  Autonomous underwater simultaneous localisation and map building , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[14]  G. Bruzzone,et al.  A simulation environment for unmanned underwater vehicles development , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[15]  Peter Norvig,et al.  A modern, agent-oriented approach to introductory artificial intelligence , 1995, SGAR.

[16]  J. Batlle,et al.  A behavior-based scheme using reinforcement learning for autonomous underwater vehicles , 2005, IEEE Journal of Oceanic Engineering.

[17]  Wayne C. Durham.  Constrained Control Allocation , 1992 .

[18]  Joan Batlle,et al.  Recent trends in control architectures for autonomous underwater vehicles , 1999, Int. J. Syst. Sci..

[19]  E. Gat.  Integrating Planning and Reacting Architecture for Controlling , 1999 .

[20]  Roger Skjetne,et al.  Line-of-sight path following of underactuated marine craft , 2003 .

[21]  T.I. Fossen,et al.  Path following for marine surface vessels , 2004, Oceans '04 MTS/IEEE Techno-Ocean '04 (IEEE Cat. No.04CH37600).

[22]  Jean-Jacques E. Slotine,et al.  The influence of thruster dynamics on underwater vehicle behavior and their incorporation into control system design , 1990 .

[23]  Antonio M. Pascoal,et al.  Nonlinear path following with applications to the control of autonomous underwater vehicles , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[24]  Robert Sutton,et al.  Pure pursuit guidance and model predictive control of an autonomous underwater vehicle for cable/pipeline tracking , 2003 .

[25]  Nils J. Nilsson,et al.  A Mobile Automaton: An Application of Artificial Intelligence Techniques , 1969, IJCAI.

[26]  Pere Ridao,et al.  Learning reactive robot behaviors with Neural-Q_leaning , 2002 .

[27]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[28]  Marc Carreras,et al.  An Overview on Behaviour-Based Methods for AUV Control , 2000 .

[29]  Peter I. Corke,et al.  Low-cost vision-based AUV guidance system for reef navigation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[30]  Daniel Toal,et al.  A Fuzzy Logic Based Navigation System for a Mobile Robot , 2000 .

[31]  Ronald C. Arkin,et al.  Reactive robotic systems , 1998 .

[32]  Angelo Alessandri,et al.  Application of LS and EKF techniques to the identification of underwater vehicles , 1998, Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104).

[33]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[34]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[35]  Joan Batlle,et al.  Hybrid coordination of reinforcement learning-based behaviors for AUV control , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[36]  Chun Che Fung,et al.  Implementation of the spline method for mobile robot path control , 1999, IMTC/99. Proceedings of the 16th IEEE Instrumentation and Measurement Technology Conference (Cat. No.99CH36309).

[37]  Robert Sutton,et al.  A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles , 2003, Journal of Navigation.

[38]  Marc Bodson,et al.  Evaluation of optimization methods for control allocation , 2001 .

[39]  Mohinder S. Grewal,et al.  Global Positioning Systems, Inertial Navigation, and Integration , 2000 .

[40]  S. A. Marshall.  Introduction to control theory , 1978 .

[41]  Kristin Y. Pettersen,et al.  Way-point tracking control of ships , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[42]  Ève Coste-Manière,et al.  Architecture, the backbone of robotic systems , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[43]  Pattie Maes,et al.  The Dynamics of Action Selection , 1989, IJCAI.

[44]  Edin Omerdic.  Thruster fault diagnosis and accommodation for overactuated open-frame underwater vehicles , 2004 .

[45]  Ronald C. Arkin,et al.  An Behavior-based Robotics , 1998 .

[46]  James G. Bellingham,et al.  An Autonomous Submersible Designed for Software Development , 1989, Proceedings OCEANS.

[47]  E. Omerdic,et al.  Design of an advanced AUV for deployment close to the seabed and other hazards , 2005, Europe Oceans 2005.

[48]  Colin Flanagan,et al.  Subsumption and Fuzzy-Logic, Experiments in Behavior-Based Control of Mobile Robots , 2003 .

[49]  Wayne C. Durham.  Attainable moments for the constrained control allocation problem , 1994 .

[50]  J. P. Brown,et al.  Toward an improved understanding of thruster dynamics for underwater vehicles , 1995, IEEE Journal of Oceanic Engineering.

[51]  Rolf Rysdyk,et al.  UAV Path Following for Constant Line-of-Sight , 2003 .

[52]  Thor I. Fossen,et al.  Marine Control Systems Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles , 2002 .

[53]  T.I. Fossen,et al.  Principles of Guidance-Based Path Following in 2D and 3D , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[54]  James G. Bellingham,et al.  Keeping layered control simple (autonomous underwater vehicles) , 1990, Symposium on Autonomous Underwater Vehicle Technology.

[55]  Robert B. McGhee,et al.  Autonomous underwater vehicle control coordination using a tri-level hybrid software architecture , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[56]  A. P. Aguiar,et al.  Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[57]  Ick Ho Whang,et al.  Horizontal waypoint guidance design using optimal control , 2002 .

[58]  Marc Carreras Pérez.  A proposal of a behavior-based control architecture with reinforcement learning for an autonomous underwater robot , 2003 .

[59]  Colin Flanagan,et al.  Implementing a Layered Control Architecture on an Open Framed AUV , 2003 .

[60]  K. Kobayashi,et al.  Development of intelligent vehicle for waypoints navigation , 2003, SICE 2003 Annual Conference (IEEE Cat. No.03TH8734).

[61]  G. N. Roberts,et al.  Extension of feasible region of control allocation for open-frame underwater vehicles , 2004 .

[62]  M. D. Feezor,et al.  Autonomous underwater vehicle homing/docking via electromagnetic guidance , 2001 .

[63]  P. Encarnacao,et al.  3D path following for autonomous underwater vehicle , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[64]  Ravi N. Banavar,et al.  A switched finite-time point-to-point control strategy for an underactuated underwater vehicle , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[65]  T. Ura,et al.  Fuel-optimally guided navigation and tracking control of AUV under current interaction , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[66]  M. Caccia,et al.  Modeling and identification of open-frame variable configuration unmanned underwater vehicles , 2000, IEEE Journal of Oceanic Engineering.

[67]  Z. Vukic,et al.  Improved basic planar algorithm of vehicle guidance through waypoints by the line of sight , 2004, First International Symposium on Control, Communications and Signal Processing, 2004..

[68]  Kenneth A. Bordignon,et al.  Constrained control allocation for systems with redundant control effectors , 1996 .

[69]  Maja Matijasevic,et al.  Control architectures for autonomous underwater vehicles , 1997 .

[70]  T. W. Vaneck.  Fuzzy guidance controller for an autonomous boat , 1997 .

[71]  Mogens Blanke,et al.  Dynamic Model for Thrust Generation of Marine Propellers , 2000 .

[72]  Andres El-Fakdi,et al.  On the identification of non-linear models of unmanned underwater vehicles , 2004 .

[73]  Marc Bodson,et al.  Fast control allocation using spherical coordinates , 1999 .

[74]  Edin Omerdic,et al.  Guidance, navigation and control system for the Tethra unmanned underwater vehicle , 2007, Int. J. Control.

[75]  Kaspar Althoefer,et al.  Fuzzy Obstacle Avoidance and Navigation for Omnidirectional Mobile Robots , 2000 .

[76]  Lefteris Doitsidis,et al.  Autonomous Navigation of Unmanned Vehicles: A Fuzzy Logic Perspective , 2005 .

[77]  F.M. Raimondi,et al.  Trajectory tracking of underactuated underwater vehicles , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[78]  Anthony J. Healey,et al.  Obstacle avoidance while bottom following for the remus autonomous underwater vehicle , 2004 .

[79]  Ronald C. Arkin,et al.  Motor schema based navigation for a mobile robot: An approach to programming by behavior , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[80]  E. Gat.  On Three-Layer Architectures , 1997 .

[81]  Mark Christopher Leyden.  The design of an autonomous mobile robot built to investigate behaviour based control , 2000 .

[82]  Rodney A. Brooks,et al.  Cambrian Intelligence: The Early History of the New AI , 1999 .

[83]  Jenhwa Guo,et al.  Design of a waypoint-tracking controller for a biomimetic-autonomous underwater vehicle , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[84]  Chanop Silpa-Anan,et al.  Autonomous underwater robot : vision and control , 2001 .

[85]  Seán Patrick Nolan.  The development of testbed vehicles for underwater systems testing and AUV controller experimentation , 2003 .

[86]  Junku Yuh,et al.  On AUV control architecture , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[87]  Robert Allen,et al.  Guidance and Control of Underwater Vehicles , 2003 .

[88]  Colin Flanagan,et al.  Buoyancy Control for an Autonomous Underwater Vehicle , 2003 .