Dependability in autonomous maritime vehicles: Building resilence into service-oriented agent robots

Carlos C. Insaurralde, Yvan Petillot

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


Technologies for oceans engineering are being based in autonomous solutions (mainly adaptation capabilities) able to tackle more complex maritime missions. This paper presents how an Intelligent Vehicle Control Architecture (IVCA) for marine robots deals with fault-tolerant capabilities in order to build a robust approach. The IVCA moves away from fixed mission plans and very basic diagnostics schemes. It is able to handle unexpected faults at vehicle, sensor and sensor processing levels based on either hardware failure or environmental changes. This paper provides details of techniques of onboard diagnosis and mitigation of faults. The operation context, the use cases, and experimental results from a particular scenario are presented. Future research work is also presented.

Original languageEnglish
Title of host publication2016 Annual IEEE Systems Conference (SysCon)
Number of pages8
ISBN (Electronic)9781467395199
Publication statusPublished - 16 Jun 2016
Event10th Annual International Systems Conference 2016 - Orlando, United States
Duration: 18 Apr 201621 Apr 2016


Conference10th Annual International Systems Conference 2016
Abbreviated title SysCon 2016
Country/TerritoryUnited States


  • fault-tolerant control architecture
  • intelligent agents
  • service-oriented architecture
  • unmanned maritime vehicles

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering


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