抄録
In this paper, the authors propose a concept of an onboard management mechanism to handle mission planning, scheduling, executing, and system monitoring, that is commonly necessary for many fields of autonomous remote systems. The main emphasis is placed on the onboard script-engine to implement the algorithm of re-planning of on-going mission so that the paper introduces a new type of command, “logic command”. The logic command is a kind of a sub-routine that can be sent in the same way as usual commands, but it makes onboard software behavior change to respond in any situation. In addition, an experimental implementation of the proposal onto an AUV is also shown.
