A deliberative architecture for AUV control

  • McGann C
  • Py F
  • Rajan K
 et al. 
  • 125


    Mendeley users who have this article in their library.
  • 56


    Citations of this article.


Autonomous Underwater Vehicles (AUVs) are an increasingly important tool for oceanographic research demonstrating their capabilities to sample the water column in depths far beyond what humans are capable of visiting, and doing so routinely and cost-effectively. However, control of these platforms to date has relied on fixed sequences for execution of pre-planned actions limiting their effectiveness for measuring dynamic and episodic ocean phenomenon. In this paper we present an agent architecture developed to overcome this limitation through on-board planning using Constraint- based Reasoning. Preliminary versions of the architecture have been integrated and tested in simulation and at sea.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Get full text


  • Conor McGann

  • Frederic Py

  • Kanna Rajan

  • Hans Thomas

  • Richard Henthorn

  • Rob McEwen

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free