Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bruzzone G., Caccia M., Coletta P., Veruggio G. Execution control and reconfiguration of navigation, guidance and control tasks for UUVs. In: MCMC 2003 - 6th IFAC Conference on Manoeuvring and Control of Marine Craft (Girona, Spain, 17-19 Semptember 2003). Proceedings, pp. 1 - 6. Joan Batlle, Mogens, Blanke (eds.). IFAC, 2003.
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.
Subject Execution control
Petri nets
Mobile robots

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