@article{PINTO2012100,
title = "Implementation of a Control Architecture for Networked Vehicle Systems",
journal = "IFAC Proceedings Volumes",
volume = "45",
number = "5",
pages = "100 - 105",
year = "2012",
note = "3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles",
issn = "1474-6670",
doi = "https://doi.org/10.3182/20120410-3-PT-4028.00018",
url = "http://www.sciencedirect.com/science/article/pii/S1474667016305870",
author = "José Pinto and Pedro Calado and José Braga and Paulo Dias and Ricardo Martins and Eduardo Marques and J.B. Sousa",
keywords = "Software Toolchain, Autonomous vehicles, Multi vehicle control, Marine systems, Communication Protocol, Inter-Module Communication",
abstract = "This paper describes the layered control architecture and its software implementation developed and used at the Underwater Systems and Technology Laboratory. The architecture is implemented as a toolchain which consists on three main entities: DUNE onboard software, Neptus command and control software and a common IMC message-based communication protocol. The LSTS software toolchain has been tested throughout various field deployments where it was used to control heterogeneous autonomous vehicles like AUVs, ASVs, UAVs and ROVs in both single and multi-vehicle operations."
}