Time-Ordered Architecture for Knowledge-Based Guidance of an Unmanned Untethered Submersible

This paper describes initial work directed at applying knowledge engineering to the guidance and control of an unmanned untethered submersible vehicle. An architecture is described which is being used as a guideline for current development efforts of the EAVE-East vehicle. The emphasis has not been to implement specific algorithms but rather to understand how knowledge-based control methods can best be applied to the vehicle system. The proposed architecture is considered and the problems which are being addressed, defined.