A MISSION CONTROL SYSTEM FOR AN AUTONOMOUS UNDERWATER VEHICLE Narcís PALOMERAS ROVIRA Dipòsit legal: GI-253-2012 http://hdl.handle.net/10803/69957 ADVERTIMENT. La consulta d’aquesta tesi queda condicionada a l’acceptació de les següents condicions d'ús: La difusió d’aquesta tesi per mitjà del servei TDX ha estat autoritzada pels titulars dels drets de propietat intel·lectual únicament per a usos privats emmarcats en activitats d’investigació i docència. No s’autoritza la seva reproducció amb finalitats de lucre ni la seva difusió i posada a disposició des d’un lloc aliè al servei TDX. No s’autoritza la presentació del seu contingut en una finestra o marc aliè a TDX (framing). Aquesta reserva de drets afecta tant al resum de presentació de la tesi com als seus continguts. En la utilització o cita de parts de la tesi és obligat indicar el nom de la persona autora. ADVERTENCIA. 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A Mission Control System for an Autonomous Underwater Vehicle Narc´ısPalomeras Rovira ViCoRob University of Girona A thesis submitted for the degree of PhD in Computer Engineering Supervisors: Pere Ridao Rodriguez and Carlos Jorge Ferreira Silvestre July 2011 2 Contents Contentsi List of Figures vii Nomenclature xviii 1 Introduction1 1.1 Motivations . .3 1.2 Goal of the thesis . .4 1.2.1 Objectives . .4 1.3 Outline of the thesis . .5 2 State of the art9 2.1 Overview of control architectures . .9 2.2 Mission Control Systems review . 13 2.3 Mission planning systems . 16 2.4 Predefined mission systems . 18 2.4.1 Script and language based MCS . 19 2.4.1.1 Research systems . 19 2.4.1.2 Commercial systems . 22 2.4.1.3 Generic systems . 23 2.4.2 Formalism based . 25 2.4.2.1 Formal mission description . 26 2.4.2.2 Formal mission and framework description . 29 2.5 Summary . 33 i CONTENTS 2.6 Survey conclusions . 33 2.6.1 The Petri net formalism . 36 3 Experimental platform 39 3.1 Vehicle experimental platforms . 39 3.1.1 Ictineu . 40 3.1.2 Sparus . 43 3.2 COLA2 architecture . 45 3.2.1 Generic and custom frameworks for developing control ar- chitectures for autonomous vehicles . 46 3.2.2 Reactive layer . 55 3.2.3 Execution layer . 57 3.2.4 Mission layer . 60 3.2.5 Implementation . 60 4 Defining a mission using Petri nets 63 4.1 Discrete Event System . 64 4.2 Primitives . 65 4.2.1 Primitive verification . 70 4.3 Petri Net Building Blocks . 71 4.3.1 PNBBs verification . 73 4.4 Tasks . 75 4.4.1 Task verification . 77 4.5 Control structures . 79 4.5.1 Sequence control structure . 83 4.5.1.1 Sequence control structure verification . 86 4.5.2 Parallel control structure . 87 4.5.3 Additional control structures . 88 5 Mission Control Language 93 5.1 The MCL programming paradigm . 94 5.2 Actions and events . 95 5.3 PNBB patterns . 96 5.4 Tasks . 97 ii CONTENTS 5.5 Control structures . 98 5.6 Mission plan . 98 5.7 The Mission Control Language - Compiler . 100 5.8 The real-time Petri net player . 101 6 Coordination of multiple vehicles 107 6.1 Coordination constraints . 109 6.1.1 Mutual exclusion . 110 6.1.2 Ordering . 113 6.1.3 Synchronization . 117 6.2 Deadlock avoidance . 121 6.3 Decentralized supervision . 124 6.3.1 Checking the d-admissibility of a constraint . 125 6.3.2 Design minimizing communication . 126 6.3.3 Supervisor design for a d-admissible constraint . 127 6.4 Multiple vehicle coordination implementation . 128 7 Planning 129 7.1 Automated planning . 130 7.2 Classical planning . 132 7.2.1 States . 133 7.2.2 Initial state s0 and goal g .................. 134 7.2.3 Planning operators . 134 7.2.4 Plans . 137 7.3 State-Space planner . 138 7.3.1 Search algorithms . 139 7.3.1.1 Non heuristics search algorithms . 140 7.3.1.2 Heuristics search algorithms . 143 7.4 Knowledge database . 145 7.4.1 World modeling scripts . 146 7.5 Adding planning abilities to the proposed Mission Control System 148 8 Experimental results 153 8.1 Primitives . 155 iii CONTENTS 8.2 Example 1: Dam inspection . 157 8.2.1 Mission description . 160 8.2.2 Results . 163 8.3 Example 2: Visual survey . 166 8.3.1 Mission description . 166 8.3.2 Results . 169 8.4 Example 3: Localization of OOIs . 169 8.4.1 Mission description . 170 8.4.2 Results . 173 8.5 Example 4: Cable tracking . 175 8.5.1 Mission description . 178 8.5.1.1 Off-line mission . 178 8.5.1.2 On-board planning . 181 8.5.2 Results . 184 9 Conclusion 187 9.1 Summary . 187 9.2 Contributions . 189 9.3 Future Work . 191 9.4 Research framework . 192 9.5 Related publications . 193 A An Introduction to Petri Nets 197 A.1 Properties . 199 A.2 Analysis . 201 A.2.1 The coverability tree . 201 A.2.2 The matrix equation approach . 203 A.3 Siphons and Traps . 206 A.4 Invariants Based Control . 206 A.5 Subclasses of Petri nets . 207 A.5.1 State Machine . 209 A.5.2 Marked Graph . 209 A.5.3 Free-Choice . 209 iv CONTENTS A.5.4 Extended Free-Choice . 210 A.5.5 Asymmetric Choice . 210 A.5.6 Ordinary Petri nets . 210 B Control structures 213 C Mission Control Language grammar 225 References 229 v CONTENTS vi List of Figures 2.1 Phases of a classical deliberative control architecture. 10 2.2 Structure of a behavior-based control architecture. 11 2.3 The hybrid control architecture structure. 12 2.4 MCS classification. 14 2.5 Orca: Intelligent adaptive reasoning system. Extracted from Turner [1995].................................. 17 2.6 Navigation Layered Block Diagram where mission layer outputs are subsumed by the outputs from the emergency, operator or obstacle avoidance layers which are running at higher competent levels. Extracted from Kao et al.[1992]. 20 2.7 Autosub mission control node showing event inputs, mission script processor and command output. Extracted from McPhail and Pe- body[1997]............................... 21 2.8 VectorMAP screen shoot. Extracted from www.iver-auv.com.... 23 2.9 VPL screen shoot. Extracted from msdn.microsoft.com....... 24 2.10 SMACH mission example. Extracted from www.ros.org....... 27 2.11 Example of a typical mission plan in Helm over MOOS. Extracted from Newman[2005].......................... 28 2.12 Lift automaton produced by Esterel compilation. Extracted from Boussinot and de Simone[1991].................... 29 2.13 Mission Procedure described in Coral. Extracted from Oliveira et al.[1998]............................... 30 2.14 Romeo vertical motion control system. Extracted from Caccia et al.[2005]............................... 31 vii LIST OF FIGURES 2.15 Summary table. 34 3.1 (a) Garbi AUV and (b) Uris AUV. 40 3.2 Ictineu AUV. 41 3.3.