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A MOOS-Based Online Trajectory Re-planning System For AUVs

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Bibliographic Details
Title: A MOOS-Based Online Trajectory Re-planning System For AUVs
Authors: Mišković, Nikola, Vukić, Zoran, Barišić, Matko
Publisher Information: 2009.
Publication Year: 2009
Subject Terms: concurrency control, Microcomputer-based control, computer architectures, computer controlled systems
Description: This paper describes an open source navigation system architecture for use in autonomous underwater vehicles. It is based on the Mission Oriented Operating System proposed, published and programmed by (Newman (2006), Newman (2008)). It is uniquely applicable for work-in- progress type and development-stage software and capability installation onto an AUV system. This applicability is achieved by its completely modular nature, which is obtained by the operating system kernel running separate processes for each advanced navigation or control feature. Robustness is also achieved in this respect since failures and errors will cause only the individual modules that incurs them to fail. Such critical errors, bugs and failures will thereby be contained and their propagation halted from completely freezing even the low-level control loops and decision- making processes needed to successfully retrieve the malfunctioning AUV.
Document Type: Conference object
Accession Number: edsair.dris...01492..6f46e99c2786016b012626eb3836c3aa
Database: OpenAIRE
Description
Abstract:This paper describes an open source navigation system architecture for use in autonomous underwater vehicles. It is based on the Mission Oriented Operating System proposed, published and programmed by (Newman (2006), Newman (2008)). It is uniquely applicable for work-in- progress type and development-stage software and capability installation onto an AUV system. This applicability is achieved by its completely modular nature, which is obtained by the operating system kernel running separate processes for each advanced navigation or control feature. Robustness is also achieved in this respect since failures and errors will cause only the individual modules that incurs them to fail. Such critical errors, bugs and failures will thereby be contained and their propagation halted from completely freezing even the low-level control loops and decision- making processes needed to successfully retrieve the malfunctioning AUV.