2Chappell S G, et al. Cooperative AUV development concept ( CAD CON) an environment for high-level multiple AUV simulation [ A]. Proceedings of the 11 th International Symposium on Unmanned Untethered Submersible Technology ( UUST99 ) [ C ]. Durham, USA:1999. 112 - 120.
3Ridao P, et al. Recent trends in control architectures for autonomous underwater vehicles [J]. International Journal of Systems Science,1999,30(9) :1033 - 1056.
4Gat E. On three-layer architectures [ A ]. Artificial Intelligence and Mobile Robots[ C]. Menlo Park: MIT/AAAI Press, 1998. 195 -210.
5Rooney C F B, et al. The social robot architecture: towards sociality in a real world domain ( UMCS - 99 - 3 - 1 ) [ R]. Manchester, UK:Manchester University, 1999.
6Ridao P, et al. An underwater autonomous agent: from simulation to experimentation[ A]. 2nd Congres Catala de Inteligencia Artificial [C]. Vilanova, Spain: 2000. 53-57.
7Albus J. NASA/NBS Standard Reference Model for Telerobot Control System Architecture ( NASREM ) ( Technical Note 1235 ) [ R ]. Gaithersburg, USA: National Institute of Standards and Technology, 1988.
8Brooks R. A robust layered control system for a mobile robot [J]. IEEE Journal of Robotics and Automation, 1986,2 (1) :14 -23.
9Connell J. SSS: A hybridarchitecture applied to robot navigation [A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Nice, France: 1992. 2719 -2724.
