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 journalArticlepeer-review


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


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


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