This paper describes the control architecture of smart
ROVLATIS. Smart ROVLATIS is a novel, multi-mode of operation marine robotics
vehicle, developed at Mobile & Marine Robotics Research Centre (MMRRC), for
operational flexibility in high-resolution near seabed survey from shallow
inshore waters out to the continental shelf edge. The vehicle can operate in
surface-tow mode, surface-thrusted mode and ROV operation mode. Special
features of the system include: deployment interoperability for small inshore
boats and larger research vessel; built-in auto-tuning of low-level
controllers; fault tolerant thruster control in 6 DOF; onboard computer control
enabling real-time disturbance reaction and topside augmented reality system
support. The vehicle can be used as a target platform in various scenarios
(research and scientific projects, inspections, seabed survey missions, vision
experiments etc.).