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convenient state machine formalism for high-level control of autonomous underwater vehicles

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Date Issued:
1998
Summary:
Recent successes in Autonomous Underwater Vehicle (AUV) technology have generated demand for broader, more general use of these vehicles, along with demand for longer, more complicated missions. However, AUVs are becoming more complex, and hence more difficult to program, test and maintain. A discrete event system would provide conditional execution for mission management, failure detection, and resource allocation techniques. The goal of this thesis is to provide a convenient formalism for discrete event systems that reduces the apparent complexity of the system while maintaining its robust capabilities. The chosen formalism allows the convenient representation of hierarchies of concurrent hierarchical state machines. The formal semantics of the model are discussed, along with complete data structures and algorithms. As an example, a complete design of the navigator state machine is provided.
Title: A convenient state machine formalism for high-level control of autonomous underwater vehicles.
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Name(s): Girard, Anouck Renee.
Florida Atlantic University, Degree grantor
Smith, Samuel M., Thesis advisor
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1998
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 203 p.
Language(s): English
Summary: Recent successes in Autonomous Underwater Vehicle (AUV) technology have generated demand for broader, more general use of these vehicles, along with demand for longer, more complicated missions. However, AUVs are becoming more complex, and hence more difficult to program, test and maintain. A discrete event system would provide conditional execution for mission management, failure detection, and resource allocation techniques. The goal of this thesis is to provide a convenient formalism for discrete event systems that reduces the apparent complexity of the system while maintaining its robust capabilities. The chosen formalism allows the convenient representation of hierarchies of concurrent hierarchical state machines. The formal semantics of the model are discussed, along with complete data structures and algorithms. As an example, a complete design of the navigator state machine is provided.
Identifier: 9780591791174 (isbn), 15549 (digitool), FADT15549 (IID), fau:12309 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 1998.
Subject(s): Submersibles
Oceanographic submersibles
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/15549
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.