A Study of Onboard Subsystem of Command Planning, Executing and State Monitoring for Autonomous Remote Systems

Abstract

This paper will propose a concept of onboard systems for command-planning, executing, and system monitoring that are commonly needed by autonomous remote systems. The concept will use an onboard script-engine by the help of a well-known three-layered approach consisting of deliberation, execution and driver layers to implement a command module to accept commands consisting logics such as functions as well as typical commands. In addition, a result of an experimental implementation onto a AUV (Autonomous Underwater Vehicle) will be presented followed by the discussion on the expression of plan of mission for autonomous systems.