Event-based motion coordination of multiple underwater vehicles under disturbances
2010 (English)Conference paper (Refereed)
The problem of driving a formation from an initial to a target configuration while under the effect of external disturbances is studied. Additional restrictions on agent sensing as well as inter-agent communication must be satisfied. We present a leader-follower solution that relies on a simple uncertainty model to trigger surfacing events. These events are then used to update the control signal, for which two different, provably correct, control strategies are proposed. Finally, we show how the surfacing events can be used to characterize the disturbance set. Numerical examples on relevant scenarios are also provided.
Place, publisher, year, edition, pages
IEEE , 2010. 1-7 p.
Ellipsoids, Lead, Position measurement, Trajectory, Uncertainty, Upper bound, Vehicles
IdentifiersURN: urn:nbn:se:kth:diva-79984DOI: 10.1109/OCEANSSYD.2010.5603980ScopusID: 2-s2.0-78349244856ISBN: 978-1-4244-5222-4OAI: oai:DiVA.org:kth-79984DiVA: diva2:495895
IEEE OCEANS, Sydney, Australia, 24-27 May 2010
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Qc 201202132012-02-132012-02-092012-02-13Bibliographically approved