Development of a Modular Software Architecture for Underwater Vehicles Using Systems Engineering

Carlos A. Zuluaga, Luis M. Aristizábal, Santiago Rúa, Diego A. Franco, Dorie A. Osorio, Rafael E. Vásquez

    Research output: Contribution to journalArticle in an indexed scientific journalpeer-review

    3 Scopus citations


    This paper addresses the development of a modular software architecture for the de-sign/construction/operation of a remotely operated vehicle (ROV), based on systems engineering. First, systems engineering and the Vee model are presented with the objective of defining the interactions of the stakeholders with the software architecture development team and establishing the baselines that must be met in each development phase. In the development stage, the definition of the architecture and its connection with the hardware is presented, taking into account the use of the actor model, which represents the high-level software architecture used to solve concurrency problems. Subsequently, the structure of the classes is defined both at high and low levels in the instruments using the object-oriented programming paradigm. Finally, unit tests are developed for each component in the software architecture, quality assessment tests are implemented for system functions fulfillment, and a field sea trial for testing different modules of the vehicle is described. This approach is well suited for the development of complex systems such as marine vehicles and those systems which require scalability and modularity to add functionalities.

    Original languageEnglish
    Article number464
    JournalJournal of Marine Science and Engineering
    Issue number4
    StatePublished - Apr 2022

    Bibliographical note

    Publisher Copyright:
    © 2022 by the authors. Licensee MDPI, Basel, Switzerland.


    • marine engineering
    • marine robotics
    • remotely operated vehicle
    • software architecture
    • systems engineering

    Types Minciencias

    • Artículos de investigación con calidad A2 / Q2


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