Event handling towards mission control for unmanned marine vehicles

This paper focuses on the design and implementation of a high level control architecture layer which allows the handling of different kind of events and permits the definition and execution of a mission plan for Unmanned Marine Vehicles (UMVs). The proposed solution enhances the already existing control architecture for CNR-ISSIA UMVs, composed by Navigation, Guidance and Control (NGC) tasks execution level and execution controller, generalizing the interface between continuous-time tasks execution and higher level event-driven control systems.