Hybrid Control Architecture for Navigation of Unmanned Underwater Vehicles
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Abstract
In the present paper, a hybrid architecture based on multi-agent systems is proposed based on a layered system. This architecture presents qualities of modularity and scalability. It is also developed a methodology for trajectory tracking based on the generation of a reliable virtual space, on which the navigation takes place under operative conditions (safety and eectiveness). Time processing operations reduction is expected during the inspection.
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