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Hierarchical search strategy for a team of autonomous vehicles
KTH, Superseded Departments, Signals, Sensors and Systems.
KTH, Superseded Departments, Signals, Sensors and Systems.ORCID iD: 0000-0001-9940-5929
2004 (English)In: Proceedings of the 5th IFAC symposium on intelligent autonomous vehicles, IFAC , 2004Conference paper (Refereed)
Abstract [en]

A multi-vehicle search strategy based on the simplex algorithm is proposed. The strategy is decomposed into a hierarchical scheme with three layers. The upper layer is described by a discrete-event system. The output of this layer is a set of way-points for the vehicles and it is used by the middle layer in order to coordinate the motion of the vehicles. The lower layer drives each vehicle to a way-point. The paper compares two possible discrete coordination strategies: one minimizes the travelled distance of the vehicles and the other avoids their trajectories to cross. Minimization of vehicle intercommunication is also studied.

Place, publisher, year, edition, pages
IFAC , 2004.
Keyword [en]
Multi-Robot Systems, Simplex Algorithm, Discrete-Event Systems, Autonomous Underwater Vehicles (AUVs)
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-84263OAI: diva2:499273
Hierarchical search strategy for a team of autonomous vehicles, IAV, Lisbon, Portugal
QC 20120221Available from: 2012-02-21 Created: 2012-02-13 Last updated: 2012-03-21Bibliographically approved

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