Publications

Publications by CRAS

1994

Dynamically configurable architecture for the control of an autonomous underwater vehicle

Authors
Sousa, JB; Pereira, FL; Pereira da Silva, E;

Publication
Intelligent Vehicles Symposium, Proceedings

Abstract
This paper presents a tri-level hierarchic control architecture for Autonomous Underwater Vehicles AUVs. This hierarchic structure is composed of three levels: organization, coordination and functional layer, structured according to the principle of increasing precision with decreasing intelligence. These levels are organized linguistically. The main contribution is the concept of dynamically configurable architecture where the notion of architecture coordinator plays a crucial role. This system dynamically configures the connections among modules of the functional layer and maintains the state of this configuration so that the most adequate translation of planned actions into execution commands takes place. These coordination features are also used to incorporate the emergence of reactive behaviors in this hierarchic architecture. The architecture structure has provisions to support multi-modal operator interfaces and for integration in complex operational systems governing the operation of multiple AUVs, divers and other sensors and actuactors.

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1994

A DYNAMICALLY CONFIGURABLE ARCHITECTURE FOR THE CONTROL OF AUTONOMOUS UNDERWATER VEHICLES

Authors
SOUSA, JB; PEREIRA, FL; DASILVA, EP;

Publication
OCEANS 94 - OCEANS ENGINEERING FOR TODAY'S TECHNOLOGY AND TOMORROW'S PRESERVATION, PROCEEDINGS, VOL II

Abstract

1994

Belief Revision in Multi-Agent Systems

Authors
Malheiro, B; Jennings, NR; Oliveira, E;

Publication
ECAI

Abstract

1993

AN AUTOMATIC PATH PLANING SYSTEM FOR AUTONOMOUS ROBOTIC VEHICLES

Authors
CUNHA, SR; DEMATOS, AC; PEREIRA, FL;

Publication
PROCEEDINGS OF THE IECON 93 - INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3: VOL 1: PLENARY SESSION, EMERGING TECHNOLOGIES AND FACTORY AUTOMATION; VOL 2: POWER ELECTRONICS; VOL 3: ROBOTICS, VISION, AND SENSORS: AND SIGNAL PROCESSING AND CONTROL

Abstract

1993

A METHODOLOGY FOR REPLANNING COLLISION-FREE TRAJECTORIES FOR A MOBILE ROBOT

Authors
DEMATOS, AC; CUNHA, SR; PEREIRA, FL;

Abstract

1993

A BLACKBOARD APPROACH TO THE MISSION MANAGEMENT FOR AUTONOMOUS UNDERWATER VEHICLE

Authors
SILVA, EAP; PEREIRA, FL; DESOUSA, JB;

Publication
APPLICATIONS OF ARTIFICIAL INTELLIGENCE IN ENGINEERING VIII, VOL 2: APPLICATIONS AND TECHNIQUES

Abstract