Abstract
In this paper, mission programming issues for autonomous vehicles with a gateway to teleoperation for online user intervention in dynamic environments are addressed. We define the various requirements of a generic and yet efficient mission programming method. The proposed solution can be integrated into various existing control architectures. To focus the presentation, special emphasis is place on the programming of a complex and generic mission executed by the Vortex underwater vehicle. Experimental results illustrate the “Find Target and Operate with Obstacle Avoidance” mission.
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© 1997 Springer-Verlag London Limited
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Coste-Manière, E., Perrier, M., Peuch, A. (1997). Mission programming: Application to underwater robots. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035230
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DOI: https://doi.org/10.1007/BFb0035230
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Online ISBN: 978-3-540-40942-7
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