Abstract

AbstractA software decisional architecture implemented and tested on the Daurade Autonomous Underwater Vehicle designed to achieve covert Rapid Environmental Assessment missions is presented. This decisional architecture is based on a software environment meant for controlling and monitoring highly autonomous systems using interpreted Petri nets and mission planning algorithms; when disruptive events occur, alternative encoded reactions are triggered and the current plan is modified. Lab and sea tests have validated data transmission, planning algorithms, online supervision of the AUV navigation actions and decisional capabilities while reacting to asynchronous events. Daurade is now used for operational REA missions.

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