A software architecture for resilient long term autonomous missions of AUVs

AUVs have been employed in underwater surveys for several years. These kinds of missions were mostly based on pre-defined waypoints in safe distances from obstacles and the seabed to generate maps of the environment. Current developments in the industry take the next step, long range AUVs are being designed by several manufacturers. The mission types range from survey missions to autonomous on-the-fly mission adaptations based on events and observations. These mission types require more advanced autonomy which should also be reflected in the software architecture of the AUV. An approach to tackle this is presented here.