Dias, NunoAlmeida, CarlosFerreira, HugoAlmeida, JoséMartins, AlfredoDias, AndréSilva, Eduardo2015-11-202015-11-202009978-1-4244-2523-5http://hdl.handle.net/10400.22/6971In this work the mission control and supervision system developed for the ROAZ Autonomous Surface Vehicle is presented. Complexity in mission requirements coupled with flexibility lead to the design of a modular hierarchical mission control system based on hybrid systems control. Monitoring and supervision control for a vehicle such as ROAZ mission is not an easy task using tools with low complexity and yet powerful enough. A set of tools were developed to perform both on board mission control and remote planning and supervision. “ROAZ- Mission Control” was developed to be used in support to bathymetric and security missions performed in river and at seas.engAutonomous surface vehiclesMission controlAutonomous mobile roboticsjournal article10.1109/OCEANSE.2009.5278234