EXECUTION CONTROL AND RECONFIGURATION OF NAVIGATION, GUIDANCE AND CONTROL TASKS FOR UUVS

摘要

In this paper the reconfiguration capabilities of a control architecture for Remotely Operated Vehicles (ROVs) are investigated. The design of the control architecture is based on the idea to use the Petri net formalism. The "safe" behavior of the architecture is guaranteed by enforcing some place invariants on the marking of the net. Moreover, the Petri net representation of the control architecture lets one to use an unfolding technique to explore the reachable configurations in an efficient way. Preliminary simulation results are shown, which demonstrate the feasibility of the proposed technique.