Mission Specification in Underwater Robotics

This paper describes the utilization of software design patterns and plan-based mission specification in the definition of AUVs missions. Within this approach, a mission is described in terms of a set of task-oriented plans in order to simplify mission definition and favor reutilization of some aspects of a mission. Each plan organizes how and when basic tasks like measurement sampling, navigation or communication are to be carried out. The usage of design patterns for AUVs has been considered in order to ease system architecture design.