RT Conference Proceedings
T1 DEVS-based modeling and simulation of data-driven exploration algorithms of lentic water bodies with an ASV
A1 Ferrero Losada, Samuel
A1 Besada Portas, Eva
A1 Risco Martín, José Luis
A1 López Orozco, José Antonio
AB This paper presents a Discrete Event System Specification (DEVS) modular architecture for modeling and simulating the behavior of an Autonomous Surface Vehicle (ASV), guided by gradient-free optimization and contour detection algorithms, while searching the extreme points and constant curves of a variable of interest in a water body. The ASV model integrates its dynamic differential equations and is controlled by a Guidance, Navigation, and Control (GNC) system implemented through several atomic models to facilitate changes in the behavior of any of them and test different types of regulators and guidance approaches in the future. The paper results show that the system is working correctly for the already supported missions (seeking extreme points and contour curves) and that adapting the specification to each of them is possible by modifying one of the models of the GNC.
SN 978-1-71-387328-0
YR 2023
FD 2023-05-26
LK https://hdl.handle.net/20.500.14352/108731
UL https://hdl.handle.net/20.500.14352/108731
LA eng
NO S. Ferrero-Losada, E. Besada-Portas, J. L. Risco-Martín and J. A. López-Orozco, "DEVS-Based Modeling and Simulation of Data-Driven Exploration Algorithms of Lentic Water Bodies with AN ASV," 2023 Annual Modeling and Simulation Conference (ANNSIM), Hamilton, ON, Canada, 2023, pp. 61-72.
NO “Investigo” Grants
NO European Commission
NO Agencia Estatal de Investigación (España)
NO Comunidad de Madrid
NO Ministerio de Ciencia e Innovación (España)
NO Ministerio de Trabajo y Economía Social (España)
DS Docta Complutense
RD 20 abr 2025