applied sciences Article Proposal of an Automated Mission Manager for Cooperative Autonomous Underwater Vehicles Néstor Lucas Martínez * , José-Fernán Martínez-Ortega, Jesús Rodríguez-Molina and Zhaoyu Zhai Departamento de Ingeniería Telemática y Electrónica (DTE), Escuela Técnica Superior de Ingeniería y Sistemas de Telecomunicación (ETSIST), Universidad Politécnica de Madrid (UPM), C/Nikola Tesla, s/n/, 28031 Madrid, Spain;
[email protected] (J.-F.M.-O.);
[email protected] (J.R.-M.);
[email protected] (Z.Z.) * Correspondence:
[email protected]; Tel.: +34-910-673-499 Received: 1 January 2020; Accepted: 21 January 2020; Published: 25 January 2020 Featured Application: Mission management for cooperative autonomous robotics. Abstract: In recent years there has been an increasing interest in the use of autonomous underwater vehicles (AUVs) for ocean interventions. Typical operations imply the pre-loading of a pre-generated mission plan into the AUV before being launched. Once deployed, the AUV waits for a start command to begin the execution of the plan. An onboard mission manager is responsible for handling the events that may prevent the AUV from following the plan. This approach considers the management of the mission only at the vehicle level. However, the use of a mission-level manager in coordination with the onboard mission manager could improve the handling of exogenous events that cannot be handled fully at the vehicle level. Moreover, the use of vehicle virtualization by the mission-level manager can ease the use of older AUVs. In this paper, we propose a new mission-level manager to be run at a control station.