A programming architecture for smart autonomous underwater vehicles

Hans Christian Woithe, Ulrich Kremer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Scopus citations

Abstract

Autonomous underwater vehicles (AUVs) are an indispensable tool for marine scientists to study the world's oceans. The Slocum glider is a buoyancy driven AUV designed for missions that can last weeks or even months. Although successful, its hardware and layered control architecture is rather limited and difficult to program. Due to limits in its hardware and software infrastructure, the Slocum glider is not able to change its behavior based on sensor readings while underwater. In this paper, we discuss a new programming architecture for AUVs like the Slocum. We present a new model that allows marine scientists to express AUV missions at a higher level of abstraction, leaving low-level software and hardware details to the compiler and runtime system. The Slocum glider is used as an illustration of how our programming architecture can be implemented within an existing system. The Slocum's new framework consists of an event driven, finite state machine model, a corresponding compiler and runtime system, and a hardware platform that interacts with the glider's existing hardware infrastructure. The new programming architecture is able to implement changes in glider behavior in response to sensor readings while submerged. This crucial capability will enable advanced glider behaviors such as underwater communication and swarming. Experimental results based on simulation and actual glider deployments off the coast of New Jersey show the expressiveness and effectiveness of our prototype implementation.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages4433-4438
Number of pages6
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/TerritoryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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