Author(s)

E.A.P. Silva, F.L. Pereira & J. Borges de Sousa

Abstract

A blackboard approach to the mission management for autonomous underwater vehicle E.A.P. Silva, F.L. Pereira & J. Borges de Sousa Institute of Systems and Robotics (I.S.R.) and D.E.E.C. • Faculdade de Engenharia da Universidade do Porto, Rua dos Bragas, 4099 f ORTO CODEX, f or^o/ 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 ex

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