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The typical system architecture of AUVs (Zereik et al., 2018), which is similar to that of many other autonomous robots and vehicles, is schematically depicted in Fig. 1. It consists of a number of interconnected functional subsystems, with some of them feeding inputs to the vehicle/robot actuators, while others read outputs from specific hardware components. The major functional subsystems are those responsible for mission control, communications, navigation, guidance and control. As illustrated in Fig. 1, the Mission Control System is the higher level of the system architecture hierarchy: it schedules and generates mission tasks that may include motion tasks such as path following, trajectory tracking, pose regulation, hovering manoeuvres, or alike. Motion tasks at the mission level are typically...
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Indiveri, G., Pascoal, A.M. (2021). Control of Autonomous Underwater Vehicles. In: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_16-1
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