A control architecture for multiple submarines in coordinated search missions
2005 (English)Conference paper (Refereed)
A control architecture for executing multi-vehicle search algorithms is presented. The proposed hierarchical structure consists of three control layers: maneuver controllers, vehicle supervisors and team controllers. The system model is described as a dynamic network of hybrid automata in the programming language Shift and allows reasoning about specification and dynamical properties in a formal setting. The particular search problem that is studied is that of finding the minimum of a scalar field using a team of autonomous submarines. As an illustration, a coordination scheme based on the Nelder-Mead simplex optimization algorithm is presented and illustrated through simulations.
Place, publisher, year, edition, pages
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-84695OAI: oai:DiVA.org:kth-84695DiVA: diva2:499526
International Workshop in Underwater Robotics, Genova, Italy
Short version.2012-02-172012-02-132012-02-17Bibliographically approved