Defining a mission control language
Narcís Palomeras, Pere Ridao, Marc Carreras · Instrumentation viewpoint · 2008
5. Conclusions A novel family of geometric algorithms of motion planning based on potential fi elds and the traversability and tenacity principles have been put forward. The T2 variant paths have resulted, on average, signifi cantly shorter than the ones of other algorithms for a representative set of missions. An extension of T2 strategies to three dimensions is under development at the moment to take advantage of the 6 DOF of AUVs.