Abstract
This paper presents the design and implementation of a Mission Control System (MCS) for an AUV. The mission is easily described using an imperative-like pseudo-code called Mission Control Language (MCL) that allows sequential/parallel, conditional and iterative task execution. MCL can be automatically translated into a Petri net, to formally describe the mission thread of execution. Then the MCS executes the Petri net in real-time over a generic layer that communicates with a particular control architecture using predefined actions and events. Concepts are illustrated with a simple mission.
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