Intelligent Autonomy for Unmanned Marine Vehicles

Robotic Control Architecture Based on Service-Oriented Agents

  • Carlos C.¬†Insaurralde

Part of the Studies in Systems, Decision and Control book series (SSDC, volume 29)

Table of contents

  1. Front Matter
    Pages 1-19
  2. Carlos C. Insaurralde
    Pages 1-5
  3. Carlos C. Insaurralde
    Pages 7-9
  4. Carlos C. Insaurralde
    Pages 11-37
  5. Carlos C. Insaurralde
    Pages 39-89
  6. Carlos C. Insaurralde
    Pages 91-107
  7. Carlos C. Insaurralde
    Pages 109-126
  8. Carlos C. Insaurralde
    Pages 127-129
  9. Back Matter
    Pages 131-226

About this book


This book presents an Intelligent Control Architecture (ICA) to enable multiple collaborating marine vehicles to autonomously carry out underwater intervention missions. The presented ICA is generic in nature but aimed at a case study where a marine surface craft and an underwater vehicle are required to work cooperatively. It is shown that they are capable of cooperating autonomously towards the execution of complex activities since they have different but complementary capabilities. The ICA implementation is verified in simulation, and validated in trials by means of a team of autonomous marine robots. This book also presents architectural details and evaluation scenarios of the ICA, results of simulations and trials from different maritime operations, and future research directions.


Autonomous Maritime Vehicles Cognitive Control Architectures Maritime Robotics On-board Decision-making Service-oriented Agent Architecture Unmanned Water Vehicles

Authors and affiliations

  • Carlos C.¬†Insaurralde
    • 1
  1. 1.Heriot-Watt UniversityEdinburghUnited Kingdom

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2015
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-18777-8
  • Online ISBN 978-3-319-18778-5
  • Series Print ISSN 2198-4182
  • Series Online ISSN 2198-4190
  • Buy this book on publisher's site
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