Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M., Bruzzone G. Execution control of ROV navigation, guidance and control tasks. In: International Journal of Control, vol. 80 (7) pp. 1109 - 1124. Taylor & Francis, 2007.
This paper focuses on the design and implementation of an execution controller of the navigation, guidance and control (NGC) tasks of remotely operated vehicles (ROV). A set of rules, guaranteeing the consistency and correctness of the control system, is defined on the basis of the topology, i.e. input-output relationships, of the execution level, and translated into constraints on a Petri net representing the NGC tasks as a discrete event system. A suitable Petri net search algorithm is defined for system reconfiguration. The proposed execution controller has been integrated in the Romeo ROV control system.
DOI: 10.1080/00207170701242523
Subject ROV applications
Control system

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