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Toward a Generalized Architecture for Unmanned Underwater Vehicles
Lin CL(林昌龙); Feng XS(封锡盛); Li YP(李一平); Liu KZ(刘开周)
Department水下机器人研究室
Conference Name2011 IEEE International Conference on Robotics and Automation
Conference DateMay 9-13, 2011
Conference PlaceShanghai, China
Author of SourceIEEE Robotics and Automation Society
Source Publication2011 IEEE International Conference on Robotics and Automation
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2011
Pages2368-2373
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130115863951
WOS IDWOS:000324383401091
Contribution Rank1
ISSN1050-4729
ISBN978-1-61284-386-5
KeywordComplexity Theory Computer Architecture Control Systems Estimation Global Positioning System Predictive Models Vehicles
AbstractA common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. We first detail the autonomic element, which is the fundamental unit of the architecture. Then the architecture is constructed, and thorough discussions are given. Finally, simulations on a semi-physical platform are carried out to examine the performance of this architecture.
Language英语
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7856
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Lin CL,Feng XS,Li YP,et al. Toward a Generalized Architecture for Unmanned Underwater Vehicles[C]//IEEE Robotics and Automation Society. Piscataway, NJ, USA:IEEE,2011:2368-2373.
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