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A control architecture for multiple submarines in coordinated search missions
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
KTH, School of Electrical Engineering (EES), Automatic Control.
2005 (English)In: Proceedings of the 16th IFAC World Congress, IFAC , 2005, 109-114 p.Conference paper (Refereed)
Abstract [en]

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
IFAC , 2005. 109-114 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 16
Keyword [en]
Hierarchical control, autonomous vehicles, hybrid systems, search methods
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-84787ScopusID: 2-s2.0-79960710228ISBN: 008045108XISBN: 9780080451084OAI: diva2:499618
16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005; Prague; Czech Republic; 3 July 2005 through 8 July 2005

QC 20120217

Available from: 2012-02-17 Created: 2012-02-13 Last updated: 2014-11-26Bibliographically approved

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