Execution control of robotic tasks for marine systems

Authors:	Caccia Massimo, CNR-ISSIA Sez. di Genova, Italy Bruzzone Gabriele, CNR-ISSIA Sez. di Genova, Italy
Topic:	7.2 Marine Systems
Session:	Marine Systems II
Keywords:	Petri-nets, discrete-event systems, marine systems, supervision, architectures.

Abstract

The problem of controlling the execution of navigation, guidance and control tasks of a mobile robot, reconfiguring their states according to the demands of the human operator or automatic coordinator, is faced in this paper focusing on the design and implementation of a Petri net based execution controller for marine robots.