Abstract
In this paper we propose a blackboard approach to the coordination stage of a practical Mission Management System which is composed of three hierarchic levels: The organization level takes place off-line and produces a coherent set of subplanes permitting to achieve the mission goals in a desirable fashion. The resulting plan will be considered as a reference basis for future actions once the mission has started. As the mission develops, a blackboard based coordinating structure (in the intermediate hierarchic level) will adopt the adequate mission achievement and safety oriented behaviors as a response to continuously monitored mission state and detected internal and external events. The lowest level of the hierarchy consists in the execution units which perform the required behaviors.

Abstract

Abstract

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.

Abstract

Abstract
In this article, we describe the analysis, design and implementation of a control architecture for a mobile platform to autonomously carry out transportation, surveillance and inspection tasks in semi-structured industrial environments. Based on a hierarchical structure composed by the Organization, Coordination and Functional levels organized linguistically and structured according to the Principle of Increasing Precision with Decreasing Intelligence, this control architecture is permits the real-time parallel execution of tasks.