A Blackboard Approach To The MissionManagement For Autonomous UnderwaterVehicle
Eduardo Silva, Фернандо Лобо Перейра, João Borges de Sousa · WIT transactions on information and communication technologies · 1970
In this paper we propose a blackboard approach to the coordination stage of a practical Mission Management System which is composed of three hierarchic levels: The organization level takes place off-line and produces a coherent set of subplanes permitting to achieve the mission goals in a desirable fashion. The resulting plan will be considered as a reference basis for future actions once the mission has started. As the mission develops, a blackboard based coordinating structure (in the intermediate hierarchic level) will adopt the adequate mission achievement and safety oriented behaviors as a response to continuously monitored mission state and detected internal and external events. The lowest level of the hierarchy consists in the execution units which perform the required behaviors.