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A Universal Multiphase Mission Execution Automaton (MEA) with Prolog Implementation for Unmanned Untethered Vehicles", Proceedings of 17th International Symposium on Unmanned Untethered Submersible Technology, Portsmouth, NH, August 2011.

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Authors
McGhee, R. B.
Brutzman, D. P.
Davis, D. T.
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2011-08
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The authors have been involved for a considerable time in research relating to computer control of robotic vehicles and mechanisms. For the past two decades, our work in this area has been focused primarily on unmanned untethered submersibles (UUVs), especially those intended for eventual military use. This being the case, we have been guided in our efforts by our knowledge of the way task abstraction and mission execution are accomplished in manned submarines. This led us some time ago to propose and investigate a tri-level software architecture called the “Rational Behavior Model” (RBM) in which the top “strategic” level of code encompasses the functioning of a human submarine commander in carrying out formal written mission orders. Below this level, a “tactical” level of software decomposes high level commands from the strategic level into real time “execution” level commands to the sensors and actuators of the UUV.
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Proceedings of the 17th International Symposium on Unmanned Untethered Submersible Technology, Portsmouth, NH, August, 2011.
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Modeling, Virtual Environments, and Simulation Institute (MOVES)
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McGhee, R. B., Brutzman, D. P., and Davis, D. T., "A Universal Multiphase Mission Execution Automaton (MEA) with Prolog Implementation for Unmanned Untethered Vehicles", Proceedings of 17th International Symposium on Unmanned Untethered Submersible Technology, Portsmouth, NH, August 2011.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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