Repository logo
 
Publication

An automated maneuver control framework for a remotely operated vehicle

2001Journal article Restricted access
Simple item page
dc.contributor.authorFraga, S. L.
dc.contributor.authorSousa, J. Borges de
dc.contributor.authorGirard, Anouck
dc.contributor.authorMartins, Alfredo
dc.date.accessioned2015-11-23T11:29:36Z
dc.date.available2015-11-23T11:29:36Z
dc.date.issued2001
dc.descriptionOCEANS, 2001. MTS/IEEE Conference and Exhibition (Volume:2 )pt_PT
dc.description.abstractAn automated maneuver control framework for a remotely operate vehicle (ROV) is presented. This framework entails a three-layered control architecture, a principled approach to design and implementation within the architecture, and hybrid systems design techniques. The control architecture is structured according to the principle of composition of vehicle motions from a minimal set of elemental maneuvers that are designed and verified independently. The principled approach is based on distributed hybrid systems techniques, and spans integrated design, simulation and implementation as the same model is used throughout. Hybrid systems control techniques are used to synthesize the elemental maneuvers and to design protocols, which coordinate the execution of elemental maneuvers within a complex maneuver. The architecture is fault-tolerant by design since it uses verified maneuvers. This work is part of the Inspection of Underwater Structures (IES) project whose main objective is the implementation of a ROV-based system for the inspection of underwater structurespt_PT
dc.identifier.doi10.1109/OCEANS.2001.968272pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/6981
dc.language.isoengpt_PT
dc.publisherIEEEpt_PT
dc.relation.ispartofseriesOCEANS;2001
dc.relation.publisherversionhttp://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=968272&abstractAccess=no&userType=instpt_PT
dc.subjectControl system synthesispt_PT
dc.subjectDifferential gamespt_PT
dc.subjectDistributed controlpt_PT
dc.subjectHierarchical systemspt_PT
dc.subjectInspectionpt_PT
dc.subjectNavigationpt_PT
dc.subjectRemotely operated vehiclespt_PT
dc.subjectRobot visionpt_PT
dc.subjectUnderwater vehiclespt_PT
dc.titleAn automated maneuver control framework for a remotely operated vehiclept_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage1128pt_PT
oaire.citation.startPage1121pt_PT
oaire.citation.titleOCEANS, 2001. MTS/IEEE Conference and Exhibitionpt_PT
oaire.citation.volume2pt_PT
person.familyNameMartins
person.givenNameAlfredo
person.identifier.ciencia-id341E-9000-B513
person.identifier.orcid0000-0003-3195-5638
person.identifier.scopus-author-id56234856000
rcaap.rightsclosedAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationdf7c1e03-5c55-4a79-916a-1ec6d4a63b41
relation.isAuthorOfPublication.latestForDiscoverydf7c1e03-5c55-4a79-916a-1ec6d4a63b41

Files

Original bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
ART_Fraga_2001.pdf
Size:
83.25 KB
Format:
Adobe Portable Document Format
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.71 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

ISEP – LSA – Artigos