Using petri nets to specify and execute missions for autonomous underwater vehicles

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dc.contributor.author	Palomeras Rovira, Narcís
dc.contributor.author	Ridao Rodríguez, Pere
dc.contributor.author	Carreras Pérez, Marc
dc.contributor.author	Silvestre, Carlos Jorge Ferreira
dc.date	2009
dc.date.accessioned	2010-05-17T14:28:43Z
dc.date.available	2010-05-17T14:28:43Z
dc.date.issued	2010-05-17T14:28:43Z
dc.identifier.citation	Palomeras, N., Ridao, P., Carreras, M., i Silvestre, C. (2009). Using petri nets to specify and execute missions for autonomous underwater vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 4439-4444. Recuperat 14 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5354045
dc.identifier.citation	978-1-4244-3803-7
dc.identifier.uri	http://hdl.handle.net/10256/2290
dc.format	application/pdf
dc.language.iso	eng
dc.publisher	IEEE
dc.relation	http://dx.doi.org/10.1109/IROS.2009.5354045
dc.relation	© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 2009, p. 4439-4444
dc.relation	Articles publicats (D-ATC)
dc.rights	Tots els drets reservats
dc.subject	Petri, Xarxes de
dc.subject	Robots -- Sistemes de control
dc.subject	Robots -- Projectes i construcció
dc.subject	Robots autònoms -- Sistemes de control
dc.subject	Vehicles submergibles -- Sistemes de control
dc.subject	Petri nets
dc.subject	Robots -- Control systems
dc.subject	Robots -- Design and construction
dc.subject	Submersibles -- Control systems
dc.title	Using petri nets to specify and execute missions for autonomous underwater vehicles
dc.type	info:eu-repo/semantics/article
dc.description.abstract	This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented

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