Abstract
We describe some of our experiences from the development of a real-time control system for an autonomous underwater vehicle. This type of control system has to handle non-predictable events originating in a partly unknown world. We call this a reactive real time control system. Object oriented methods seem to be particularly appropriate for reactive realtime systems. We have developed an object oriented framework for this type of system that is called “Administrative System for AUV Control Software” - ASACS. This framework is special in that the objects in the control system represent state variables, e.g., speed and heading, instead of physical entities like motor and rudder. We believe that the state oriented objects are the more suitable for making a generalized framework like ASACS.
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