LASSA Architecture-Based Autonomous Fault-Tolerant Control of Unmanned Underwater Vehicles
Unmanned underwater vehicles (UUVs) operate persistently in communication-constrained environments, thus requiring high-level autonomous fault-tolerant control under faulty operating conditions. Existing approaches rely heavily on predefined hard-coded rules and struggle to achieve effective fault-tolerant control against unforeseen faults. Although large language models (LLMs) possess powerful cognitive and reasoning capabilities, their inherent hallucinations remain a major obstacle to their application in UUV control systems. This paper proposes an intelligent control method based on the LASSA (LLM-based Agent with Solver, Sensor and Actuator) architecture. Within this architecture, an...
| Authors | Hong Chen, Zixiang Tang, Yuanbao Chen et al. |
|---|---|
| Primary category | cs.RO |
| Published | 10 May 2026 |
| Last updated at source | 10 May 2026 |
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