Networked Control System Architecture for Autonomous Underwater Vehicles with Redundant Sensors

Autonomous Underwater Vehicles (AUVs) represent a very secure method to investigate depths that were inaccessible and/or hazardous for manned and remotely operated underwater vehicles. This paper proposes a Networked Control System architecture for an AUV and conducts an in-depth analysis of its network in multiple scenarios. Furthermore, a technique for retrieving failed AUVs is discussed and proven from a network perspective. Finally, sensor reliability is enhanced using fault tolerance.