Capítulo de Libro
Cascade safe formation control for a fleet of underactuated surface vessels using the DCOP approach
Título del libro: Contemporary Challenges and Solutions in Applied Artificial Intelligence
Fecha de publicación:
2013
Editorial:
Springer
ISBN:
978-3-319-00650-5
Idioma:
Inglés
Clasificación temática:
Resumen
This paper considers the formation control of multiple underactuated surface vessel. A distributed cooperative control using the relative information among neighboring vehicles is proposed such that the flock of multiple vehicles forms a desired geometric formation pattern whose center moves along a desired trajectory. In order to guarantee safe flock navigation and interaction of vehicles with the environment, we propose to extend the designed formation tracking controller to more sophisticated algorithm that prevent the vehicles from colliding with environmental obstacles with unknown sizes and locations based on a Decentralized Constrained Optimizing Problem ”DCOP” strategy.
Palabras clave:
cooperative robotics
,
DCOP
,
acuatic autonomous vehicles
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Capítulos de libros(CCT - TANDIL)
Capítulos de libros de CTRO CIENTIFICO TECNOLOGICO CONICET - TANDIL
Capítulos de libros de CTRO CIENTIFICO TECNOLOGICO CONICET - TANDIL
Citación
Rozenfeld, Alejandro Fabian; Ghommam, Jawhar; Picos, Rodrigo; Acosta, Gerardo Gabriel; Cascade safe formation control for a fleet of underactuated surface vessels using the DCOP approach; Springer; 2013; 183-188
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